From 4ef68730a2c93119eee6508573c1c6bdb04a3951 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Sun, 2 Aug 2026 12:55:19 -0500 Subject: [PATCH] lies --- common/libcommon.a | Bin 791070 -> 791070 bytes common/params_pyx.so | Bin 837976 -> 837976 bytes common/version.h | 2 +- msgq_repo/msgq/visionipc/visionipc_pyx.so | Bin 589192 -> 589192 bytes panda/board/obj/body_h7.bin.signed | Bin 100788 -> 100788 bytes panda/board/obj/body_h7/bootstub.elf | Bin 112692 -> 112692 bytes panda/board/obj/body_h7/main.bin | Bin 100652 -> 100652 bytes panda/board/obj/body_h7/main.elf | Bin 425592 -> 425592 bytes panda/board/obj/bootstub.body_h7.bin | Bin 12644 -> 12644 bytes panda/board/obj/bootstub.panda.bin | Bin 11068 -> 11068 bytes .../obj/bootstub.panda_can_ignition_only.bin | Bin 11068 -> 11068 bytes panda/board/obj/bootstub.panda_h7.bin | Bin 18784 -> 18784 bytes .../bootstub.panda_h7_can_ignition_only.bin | Bin 18784 -> 18784 bytes .../obj/bootstub.panda_h7_hkg_remote.bin | Bin 18784 -> 18784 bytes ....panda_h7_hkg_remote_can_ignition_only.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_h7_remote.bin | Bin 18784 -> 18784 bytes ...stub.panda_h7_remote_can_ignition_only.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_hkg_remote.bin | Bin 11068 -> 11068 bytes ...tub.panda_hkg_remote_can_ignition_only.bin | Bin 11068 -> 11068 bytes panda/board/obj/bootstub.panda_jungle_h7.bin | Bin 13956 -> 13956 bytes panda/board/obj/bootstub.panda_remote.bin | Bin 11068 -> 11068 bytes ...ootstub.panda_remote_can_ignition_only.bin | Bin 11068 -> 11068 bytes panda/board/obj/gitversion.h | 2 +- panda/board/obj/panda.bin.signed | Bin 90072 -> 90072 bytes panda/board/obj/panda/bootstub.elf | Bin 100760 -> 100760 bytes panda/board/obj/panda/main.bin | Bin 89936 -> 89936 bytes panda/board/obj/panda/main.elf | Bin 385076 -> 385076 bytes .../obj/panda_can_ignition_only.bin.signed | Bin 90052 -> 90052 bytes .../obj/panda_can_ignition_only/bootstub.elf | Bin 100780 -> 100780 bytes .../obj/panda_can_ignition_only/main.bin | Bin 89916 -> 89916 bytes .../obj/panda_can_ignition_only/main.elf | Bin 384916 -> 384916 bytes panda/board/obj/panda_h7.bin.signed | Bin 108804 -> 108804 bytes panda/board/obj/panda_h7/bootstub.elf | Bin 152728 -> 152728 bytes panda/board/obj/panda_h7/main.bin | Bin 108668 -> 108668 bytes panda/board/obj/panda_h7/main.elf | Bin 469060 -> 469060 bytes .../obj/panda_h7_can_ignition_only.bin.signed | Bin 108784 -> 108784 bytes .../panda_h7_can_ignition_only/bootstub.elf | Bin 152748 -> 152748 bytes .../obj/panda_h7_can_ignition_only/main.bin | Bin 108648 -> 108648 bytes .../obj/panda_h7_can_ignition_only/main.elf | Bin 468908 -> 468908 bytes .../board/obj/panda_h7_hkg_remote.bin.signed | Bin 108900 -> 108900 bytes .../obj/panda_h7_hkg_remote/bootstub.elf | Bin 152740 -> 152740 bytes panda/board/obj/panda_h7_hkg_remote/main.bin | Bin 108764 -> 108764 bytes panda/board/obj/panda_h7_hkg_remote/main.elf | Bin 469500 -> 469500 bytes ...h7_hkg_remote_can_ignition_only.bin.signed | Bin 108892 -> 108892 bytes .../bootstub.elf | Bin 152760 -> 152760 bytes .../main.bin | Bin 108756 -> 108756 bytes .../main.elf | Bin 469368 -> 469368 bytes panda/board/obj/panda_h7_remote.bin.signed | Bin 108740 -> 108740 bytes panda/board/obj/panda_h7_remote/bootstub.elf | Bin 152736 -> 152736 bytes panda/board/obj/panda_h7_remote/main.bin | Bin 108604 -> 108604 bytes panda/board/obj/panda_h7_remote/main.elf | Bin 468996 -> 468996 bytes ...nda_h7_remote_can_ignition_only.bin.signed | Bin 108720 -> 108720 bytes .../bootstub.elf | Bin 152756 -> 152756 bytes .../main.bin | Bin 108584 -> 108584 bytes .../main.elf | Bin 468848 -> 468848 bytes panda/board/obj/panda_hkg_remote.bin.signed | Bin 90172 -> 90172 bytes panda/board/obj/panda_hkg_remote/bootstub.elf | Bin 100772 -> 100772 bytes panda/board/obj/panda_hkg_remote/main.bin | Bin 90036 -> 90036 bytes panda/board/obj/panda_hkg_remote/main.elf | Bin 385496 -> 385496 bytes ...da_hkg_remote_can_ignition_only.bin.signed | Bin 90164 -> 90164 bytes .../bootstub.elf | Bin 100792 -> 100792 bytes .../main.bin | Bin 90028 -> 90028 bytes .../main.elf | Bin 385364 -> 385364 bytes panda/board/obj/panda_jungle_h7.bin.signed | Bin 102740 -> 102740 bytes panda/board/obj/panda_jungle_h7/bootstub.elf | Bin 123936 -> 123936 bytes panda/board/obj/panda_jungle_h7/main.bin | Bin 102604 -> 102604 bytes panda/board/obj/panda_jungle_h7/main.elf | Bin 429552 -> 429552 bytes panda/board/obj/panda_remote.bin.signed | Bin 90032 -> 90032 bytes panda/board/obj/panda_remote/bootstub.elf | Bin 100768 -> 100768 bytes panda/board/obj/panda_remote/main.bin | Bin 89896 -> 89896 bytes panda/board/obj/panda_remote/main.elf | Bin 385176 -> 385176 bytes .../panda_remote_can_ignition_only.bin.signed | Bin 90012 -> 90012 bytes .../bootstub.elf | Bin 100788 -> 100788 bytes .../panda_remote_can_ignition_only/main.bin | Bin 89876 -> 89876 bytes .../panda_remote_can_ignition_only/main.elf | Bin 385020 -> 385020 bytes panda/board/obj/version | 2 +- selfdrive/locationd/models/generated/car.cpp | 684 +++--- selfdrive/locationd/models/generated/car.h | 42 +- selfdrive/locationd/models/generated/pose.cpp | 1938 ++++++++--------- selfdrive/locationd/models/generated/pose.h | 26 +- selfdrive/modeld/models/commonmodel_pyx.so | Bin 431968 -> 431968 bytes selfdrive/pandad/pandad | Bin 851184 -> 851184 bytes selfdrive/ui/ui | Bin 4476584 -> 4476584 bytes system/camerad/camerad | Bin 876648 -> 876648 bytes system/loggerd/bootlog | Bin 683464 -> 683464 bytes system/loggerd/encoderd | Bin 923424 -> 923424 bytes system/loggerd/loggerd | Bin 858688 -> 858688 bytes 87 files changed, 1348 insertions(+), 1348 deletions(-) diff --git a/common/libcommon.a b/common/libcommon.a index 6aaf18497d6cc73dbc6a2f173f5947552a34ba36..b7be2b0ed6bab9e6eceec726b95960313bd7e703 100644 GIT binary patch delta 43 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@@ const static double MAHA_THRESH_31 = 3.8414588206941227; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_3928386937016580969) { - out_3928386937016580969[0] = delta_x[0] + nom_x[0]; - out_3928386937016580969[1] = delta_x[1] + nom_x[1]; - out_3928386937016580969[2] = delta_x[2] + nom_x[2]; - out_3928386937016580969[3] = delta_x[3] + nom_x[3]; - out_3928386937016580969[4] = delta_x[4] + nom_x[4]; - out_3928386937016580969[5] = delta_x[5] + nom_x[5]; - out_3928386937016580969[6] = delta_x[6] + nom_x[6]; - out_3928386937016580969[7] = delta_x[7] + nom_x[7]; - out_3928386937016580969[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_1506475022093702388) { + out_1506475022093702388[0] = delta_x[0] + nom_x[0]; + out_1506475022093702388[1] = delta_x[1] + nom_x[1]; + out_1506475022093702388[2] = delta_x[2] + nom_x[2]; + out_1506475022093702388[3] = delta_x[3] + nom_x[3]; + out_1506475022093702388[4] = delta_x[4] + nom_x[4]; + out_1506475022093702388[5] = delta_x[5] + nom_x[5]; + out_1506475022093702388[6] = delta_x[6] + nom_x[6]; + out_1506475022093702388[7] = delta_x[7] + nom_x[7]; + out_1506475022093702388[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5072261536488927858) { - out_5072261536488927858[0] = -nom_x[0] + true_x[0]; - out_5072261536488927858[1] = -nom_x[1] + true_x[1]; - out_5072261536488927858[2] = -nom_x[2] + true_x[2]; - out_5072261536488927858[3] = -nom_x[3] + true_x[3]; - out_5072261536488927858[4] = -nom_x[4] + true_x[4]; - out_5072261536488927858[5] = -nom_x[5] + true_x[5]; - out_5072261536488927858[6] = -nom_x[6] + true_x[6]; - out_5072261536488927858[7] = -nom_x[7] + true_x[7]; - out_5072261536488927858[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_9143363731815594717) { + out_9143363731815594717[0] = -nom_x[0] + true_x[0]; + out_9143363731815594717[1] = -nom_x[1] + true_x[1]; + out_9143363731815594717[2] = -nom_x[2] + true_x[2]; + out_9143363731815594717[3] = -nom_x[3] + true_x[3]; + out_9143363731815594717[4] = -nom_x[4] + true_x[4]; + out_9143363731815594717[5] = -nom_x[5] + true_x[5]; + out_9143363731815594717[6] = -nom_x[6] + true_x[6]; + out_9143363731815594717[7] = -nom_x[7] + true_x[7]; + out_9143363731815594717[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_1805157416881491113) { - out_1805157416881491113[0] = 1.0; - out_1805157416881491113[1] = 0.0; - out_1805157416881491113[2] = 0.0; - out_1805157416881491113[3] = 0.0; - out_1805157416881491113[4] = 0.0; - out_1805157416881491113[5] = 0.0; - out_1805157416881491113[6] = 0.0; - out_1805157416881491113[7] = 0.0; - out_1805157416881491113[8] = 0.0; - out_1805157416881491113[9] = 0.0; - out_1805157416881491113[10] = 1.0; - out_1805157416881491113[11] = 0.0; - out_1805157416881491113[12] = 0.0; - out_1805157416881491113[13] = 0.0; - out_1805157416881491113[14] = 0.0; - out_1805157416881491113[15] = 0.0; - out_1805157416881491113[16] = 0.0; - out_1805157416881491113[17] = 0.0; - out_1805157416881491113[18] = 0.0; - out_1805157416881491113[19] = 0.0; - out_1805157416881491113[20] = 1.0; - out_1805157416881491113[21] = 0.0; - out_1805157416881491113[22] = 0.0; - out_1805157416881491113[23] = 0.0; - out_1805157416881491113[24] = 0.0; - out_1805157416881491113[25] = 0.0; - out_1805157416881491113[26] = 0.0; - out_1805157416881491113[27] = 0.0; - out_1805157416881491113[28] = 0.0; - out_1805157416881491113[29] = 0.0; - out_1805157416881491113[30] = 1.0; - out_1805157416881491113[31] = 0.0; - out_1805157416881491113[32] = 0.0; - out_1805157416881491113[33] = 0.0; - out_1805157416881491113[34] = 0.0; - out_1805157416881491113[35] = 0.0; - out_1805157416881491113[36] = 0.0; - out_1805157416881491113[37] = 0.0; - out_1805157416881491113[38] = 0.0; - out_1805157416881491113[39] = 0.0; - out_1805157416881491113[40] = 1.0; - out_1805157416881491113[41] = 0.0; - out_1805157416881491113[42] = 0.0; - out_1805157416881491113[43] = 0.0; - out_1805157416881491113[44] = 0.0; - out_1805157416881491113[45] = 0.0; - out_1805157416881491113[46] = 0.0; - out_1805157416881491113[47] = 0.0; - out_1805157416881491113[48] = 0.0; - out_1805157416881491113[49] = 0.0; - out_1805157416881491113[50] = 1.0; - out_1805157416881491113[51] = 0.0; - out_1805157416881491113[52] = 0.0; - out_1805157416881491113[53] = 0.0; - out_1805157416881491113[54] = 0.0; - out_1805157416881491113[55] = 0.0; - out_1805157416881491113[56] = 0.0; - out_1805157416881491113[57] = 0.0; - out_1805157416881491113[58] = 0.0; - out_1805157416881491113[59] = 0.0; - out_1805157416881491113[60] = 1.0; - out_1805157416881491113[61] = 0.0; - out_1805157416881491113[62] = 0.0; - out_1805157416881491113[63] = 0.0; - out_1805157416881491113[64] = 0.0; - out_1805157416881491113[65] = 0.0; - out_1805157416881491113[66] = 0.0; - out_1805157416881491113[67] = 0.0; - out_1805157416881491113[68] = 0.0; - out_1805157416881491113[69] = 0.0; - out_1805157416881491113[70] = 1.0; - out_1805157416881491113[71] = 0.0; - out_1805157416881491113[72] = 0.0; - out_1805157416881491113[73] = 0.0; - out_1805157416881491113[74] = 0.0; - out_1805157416881491113[75] = 0.0; - out_1805157416881491113[76] = 0.0; - out_1805157416881491113[77] = 0.0; - out_1805157416881491113[78] = 0.0; - out_1805157416881491113[79] = 0.0; - out_1805157416881491113[80] = 1.0; +void H_mod_fun(double *state, double *out_9131407703981301731) { + out_9131407703981301731[0] = 1.0; + out_9131407703981301731[1] = 0.0; + out_9131407703981301731[2] = 0.0; + out_9131407703981301731[3] = 0.0; + out_9131407703981301731[4] = 0.0; + out_9131407703981301731[5] = 0.0; + out_9131407703981301731[6] = 0.0; + out_9131407703981301731[7] = 0.0; + out_9131407703981301731[8] = 0.0; + out_9131407703981301731[9] = 0.0; + out_9131407703981301731[10] = 1.0; + out_9131407703981301731[11] = 0.0; + out_9131407703981301731[12] = 0.0; + out_9131407703981301731[13] = 0.0; + out_9131407703981301731[14] = 0.0; + out_9131407703981301731[15] = 0.0; + out_9131407703981301731[16] = 0.0; + out_9131407703981301731[17] = 0.0; + out_9131407703981301731[18] = 0.0; + out_9131407703981301731[19] = 0.0; + out_9131407703981301731[20] = 1.0; + out_9131407703981301731[21] = 0.0; + out_9131407703981301731[22] = 0.0; + out_9131407703981301731[23] = 0.0; + out_9131407703981301731[24] = 0.0; + out_9131407703981301731[25] = 0.0; + out_9131407703981301731[26] = 0.0; + out_9131407703981301731[27] = 0.0; + out_9131407703981301731[28] = 0.0; + out_9131407703981301731[29] = 0.0; + out_9131407703981301731[30] = 1.0; + out_9131407703981301731[31] = 0.0; + out_9131407703981301731[32] = 0.0; + out_9131407703981301731[33] = 0.0; + out_9131407703981301731[34] = 0.0; + out_9131407703981301731[35] = 0.0; + out_9131407703981301731[36] = 0.0; + out_9131407703981301731[37] = 0.0; + out_9131407703981301731[38] = 0.0; + out_9131407703981301731[39] = 0.0; + out_9131407703981301731[40] = 1.0; + out_9131407703981301731[41] = 0.0; + out_9131407703981301731[42] = 0.0; + out_9131407703981301731[43] = 0.0; + out_9131407703981301731[44] = 0.0; + out_9131407703981301731[45] = 0.0; + out_9131407703981301731[46] = 0.0; + out_9131407703981301731[47] = 0.0; + out_9131407703981301731[48] = 0.0; + out_9131407703981301731[49] = 0.0; + out_9131407703981301731[50] = 1.0; + out_9131407703981301731[51] = 0.0; + out_9131407703981301731[52] = 0.0; + out_9131407703981301731[53] = 0.0; + out_9131407703981301731[54] = 0.0; + out_9131407703981301731[55] = 0.0; + out_9131407703981301731[56] = 0.0; + out_9131407703981301731[57] = 0.0; + out_9131407703981301731[58] = 0.0; + out_9131407703981301731[59] = 0.0; + out_9131407703981301731[60] = 1.0; + out_9131407703981301731[61] = 0.0; + out_9131407703981301731[62] = 0.0; + out_9131407703981301731[63] = 0.0; + out_9131407703981301731[64] = 0.0; + out_9131407703981301731[65] = 0.0; + out_9131407703981301731[66] = 0.0; + out_9131407703981301731[67] = 0.0; + out_9131407703981301731[68] = 0.0; + out_9131407703981301731[69] = 0.0; + out_9131407703981301731[70] = 1.0; + out_9131407703981301731[71] = 0.0; + out_9131407703981301731[72] = 0.0; + out_9131407703981301731[73] = 0.0; + out_9131407703981301731[74] = 0.0; + out_9131407703981301731[75] = 0.0; + out_9131407703981301731[76] = 0.0; + out_9131407703981301731[77] = 0.0; + out_9131407703981301731[78] = 0.0; + out_9131407703981301731[79] = 0.0; + out_9131407703981301731[80] = 1.0; } -void f_fun(double *state, double dt, double *out_779920196187082914) { - out_779920196187082914[0] = state[0]; - out_779920196187082914[1] = state[1]; - out_779920196187082914[2] = state[2]; - out_779920196187082914[3] = state[3]; - out_779920196187082914[4] = state[4]; - out_779920196187082914[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; - out_779920196187082914[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; - out_779920196187082914[7] = state[7]; - out_779920196187082914[8] = state[8]; +void f_fun(double *state, double dt, double *out_384729614673600146) { + out_384729614673600146[0] = state[0]; + out_384729614673600146[1] = state[1]; + out_384729614673600146[2] = state[2]; + out_384729614673600146[3] = state[3]; + out_384729614673600146[4] = state[4]; + out_384729614673600146[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; + out_384729614673600146[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; + out_384729614673600146[7] = state[7]; + out_384729614673600146[8] = state[8]; } -void F_fun(double *state, double dt, double *out_3629707451146971735) { - out_3629707451146971735[0] = 1; - out_3629707451146971735[1] = 0; - out_3629707451146971735[2] = 0; - out_3629707451146971735[3] = 0; - out_3629707451146971735[4] = 0; - out_3629707451146971735[5] = 0; - out_3629707451146971735[6] = 0; - out_3629707451146971735[7] = 0; - out_3629707451146971735[8] = 0; - out_3629707451146971735[9] = 0; - out_3629707451146971735[10] = 1; - out_3629707451146971735[11] = 0; - out_3629707451146971735[12] = 0; - out_3629707451146971735[13] = 0; - out_3629707451146971735[14] = 0; - out_3629707451146971735[15] = 0; - out_3629707451146971735[16] = 0; - out_3629707451146971735[17] = 0; - out_3629707451146971735[18] = 0; - out_3629707451146971735[19] = 0; - out_3629707451146971735[20] = 1; - out_3629707451146971735[21] = 0; - out_3629707451146971735[22] = 0; - out_3629707451146971735[23] = 0; - out_3629707451146971735[24] = 0; - out_3629707451146971735[25] = 0; - out_3629707451146971735[26] = 0; - out_3629707451146971735[27] = 0; - out_3629707451146971735[28] = 0; - out_3629707451146971735[29] = 0; - out_3629707451146971735[30] = 1; - out_3629707451146971735[31] = 0; - out_3629707451146971735[32] = 0; - out_3629707451146971735[33] = 0; - out_3629707451146971735[34] = 0; - out_3629707451146971735[35] = 0; - out_3629707451146971735[36] = 0; - out_3629707451146971735[37] = 0; - out_3629707451146971735[38] = 0; - out_3629707451146971735[39] = 0; - out_3629707451146971735[40] = 1; - out_3629707451146971735[41] = 0; - out_3629707451146971735[42] = 0; - out_3629707451146971735[43] = 0; - out_3629707451146971735[44] = 0; - out_3629707451146971735[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); - out_3629707451146971735[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_3629707451146971735[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3629707451146971735[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3629707451146971735[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); - out_3629707451146971735[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_3629707451146971735[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_3629707451146971735[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_3629707451146971735[53] = -9.8100000000000005*dt; - out_3629707451146971735[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); - out_3629707451146971735[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_3629707451146971735[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3629707451146971735[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3629707451146971735[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); - out_3629707451146971735[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_3629707451146971735[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; - out_3629707451146971735[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3629707451146971735[62] = 0; - out_3629707451146971735[63] = 0; - out_3629707451146971735[64] = 0; - out_3629707451146971735[65] = 0; - out_3629707451146971735[66] = 0; - out_3629707451146971735[67] = 0; - out_3629707451146971735[68] = 0; - out_3629707451146971735[69] = 0; - out_3629707451146971735[70] = 1; - out_3629707451146971735[71] = 0; - out_3629707451146971735[72] = 0; - out_3629707451146971735[73] = 0; - out_3629707451146971735[74] = 0; - out_3629707451146971735[75] = 0; - out_3629707451146971735[76] = 0; - out_3629707451146971735[77] = 0; - out_3629707451146971735[78] = 0; - out_3629707451146971735[79] = 0; - out_3629707451146971735[80] = 1; +void F_fun(double *state, double dt, double *out_7440730494263305444) { + out_7440730494263305444[0] = 1; + out_7440730494263305444[1] = 0; + out_7440730494263305444[2] = 0; + out_7440730494263305444[3] = 0; + out_7440730494263305444[4] = 0; + out_7440730494263305444[5] = 0; + out_7440730494263305444[6] = 0; + out_7440730494263305444[7] = 0; + out_7440730494263305444[8] = 0; + out_7440730494263305444[9] = 0; + out_7440730494263305444[10] = 1; + out_7440730494263305444[11] = 0; + out_7440730494263305444[12] = 0; + out_7440730494263305444[13] = 0; + out_7440730494263305444[14] = 0; + out_7440730494263305444[15] = 0; + out_7440730494263305444[16] = 0; + out_7440730494263305444[17] = 0; + out_7440730494263305444[18] = 0; + out_7440730494263305444[19] = 0; + out_7440730494263305444[20] = 1; + out_7440730494263305444[21] = 0; + out_7440730494263305444[22] = 0; + out_7440730494263305444[23] = 0; + out_7440730494263305444[24] = 0; + out_7440730494263305444[25] = 0; + out_7440730494263305444[26] = 0; + out_7440730494263305444[27] = 0; + out_7440730494263305444[28] = 0; + out_7440730494263305444[29] = 0; + out_7440730494263305444[30] = 1; + out_7440730494263305444[31] = 0; + out_7440730494263305444[32] = 0; + out_7440730494263305444[33] = 0; + out_7440730494263305444[34] = 0; + out_7440730494263305444[35] = 0; + out_7440730494263305444[36] = 0; + out_7440730494263305444[37] = 0; + out_7440730494263305444[38] = 0; + out_7440730494263305444[39] = 0; + out_7440730494263305444[40] = 1; + out_7440730494263305444[41] = 0; + out_7440730494263305444[42] = 0; + out_7440730494263305444[43] = 0; + out_7440730494263305444[44] = 0; + out_7440730494263305444[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); + out_7440730494263305444[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_7440730494263305444[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7440730494263305444[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7440730494263305444[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); + out_7440730494263305444[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_7440730494263305444[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_7440730494263305444[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_7440730494263305444[53] = -9.8100000000000005*dt; + out_7440730494263305444[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); + out_7440730494263305444[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_7440730494263305444[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7440730494263305444[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7440730494263305444[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); + out_7440730494263305444[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_7440730494263305444[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; + out_7440730494263305444[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7440730494263305444[62] = 0; + out_7440730494263305444[63] = 0; + out_7440730494263305444[64] = 0; + out_7440730494263305444[65] = 0; + out_7440730494263305444[66] = 0; + out_7440730494263305444[67] = 0; + out_7440730494263305444[68] = 0; + out_7440730494263305444[69] = 0; + out_7440730494263305444[70] = 1; + out_7440730494263305444[71] = 0; + out_7440730494263305444[72] = 0; + out_7440730494263305444[73] = 0; + out_7440730494263305444[74] = 0; + out_7440730494263305444[75] = 0; + out_7440730494263305444[76] = 0; + out_7440730494263305444[77] = 0; + out_7440730494263305444[78] = 0; + out_7440730494263305444[79] = 0; + out_7440730494263305444[80] = 1; } -void h_25(double *state, double *unused, double *out_3062657207957604668) { - out_3062657207957604668[0] = state[6]; +void h_25(double *state, double *unused, double *out_4252950562849966829) { + out_4252950562849966829[0] = state[6]; } -void H_25(double *state, double *unused, double *out_6170957893956391582) { - out_6170957893956391582[0] = 0; - out_6170957893956391582[1] = 0; - out_6170957893956391582[2] = 0; - out_6170957893956391582[3] = 0; - out_6170957893956391582[4] = 0; - out_6170957893956391582[5] = 0; - out_6170957893956391582[6] = 1; - out_6170957893956391582[7] = 0; - out_6170957893956391582[8] = 0; +void H_25(double *state, double *unused, double *out_6221318096935853377) { + out_6221318096935853377[0] = 0; + out_6221318096935853377[1] = 0; + out_6221318096935853377[2] = 0; + out_6221318096935853377[3] = 0; + out_6221318096935853377[4] = 0; + out_6221318096935853377[5] = 0; + out_6221318096935853377[6] = 1; + out_6221318096935853377[7] = 0; + out_6221318096935853377[8] = 0; } -void h_24(double *state, double *unused, double *out_4363661235373079824) { - out_4363661235373079824[0] = state[4]; - out_4363661235373079824[1] = state[5]; +void h_24(double *state, double *unused, double *out_3680087672280189791) { + out_3680087672280189791[0] = state[4]; + out_3680087672280189791[1] = state[5]; } -void H_24(double *state, double *unused, double *out_6464400548730383069) { - out_6464400548730383069[0] = 0; - out_6464400548730383069[1] = 0; - out_6464400548730383069[2] = 0; - out_6464400548730383069[3] = 0; - out_6464400548730383069[4] = 1; - out_6464400548730383069[5] = 0; - out_6464400548730383069[6] = 0; - out_6464400548730383069[7] = 0; - out_6464400548730383069[8] = 0; - out_6464400548730383069[9] = 0; - out_6464400548730383069[10] = 0; - out_6464400548730383069[11] = 0; - out_6464400548730383069[12] = 0; - out_6464400548730383069[13] = 0; - out_6464400548730383069[14] = 1; - out_6464400548730383069[15] = 0; - out_6464400548730383069[16] = 0; - out_6464400548730383069[17] = 0; +void H_24(double *state, double *unused, double *out_9166284664138259719) { + out_9166284664138259719[0] = 0; + out_9166284664138259719[1] = 0; + out_9166284664138259719[2] = 0; + out_9166284664138259719[3] = 0; + out_9166284664138259719[4] = 1; + out_9166284664138259719[5] = 0; + out_9166284664138259719[6] = 0; + out_9166284664138259719[7] = 0; + out_9166284664138259719[8] = 0; + out_9166284664138259719[9] = 0; + out_9166284664138259719[10] = 0; + out_9166284664138259719[11] = 0; + out_9166284664138259719[12] = 0; + out_9166284664138259719[13] = 0; + out_9166284664138259719[14] = 1; + out_9166284664138259719[15] = 0; + out_9166284664138259719[16] = 0; + out_9166284664138259719[17] = 0; } -void h_30(double *state, double *unused, double *out_8192537752896435152) { - out_8192537752896435152[0] = state[4]; +void h_30(double *state, double *unused, double *out_7996626645345091737) { + out_7996626645345091737[0] = state[4]; } -void H_30(double *state, double *unused, double *out_5359095838261543279) { - out_5359095838261543279[0] = 0; - out_5359095838261543279[1] = 0; - out_5359095838261543279[2] = 0; - out_5359095838261543279[3] = 0; - out_5359095838261543279[4] = 1; - out_5359095838261543279[5] = 0; - out_5359095838261543279[6] = 0; - out_5359095838261543279[7] = 0; - out_5359095838261543279[8] = 0; +void H_30(double *state, double *unused, double *out_7697729646646090041) { + out_7697729646646090041[0] = 0; + out_7697729646646090041[1] = 0; + out_7697729646646090041[2] = 0; + out_7697729646646090041[3] = 0; + out_7697729646646090041[4] = 1; + out_7697729646646090041[5] = 0; + out_7697729646646090041[6] = 0; + out_7697729646646090041[7] = 0; + out_7697729646646090041[8] = 0; } -void h_26(double *state, double *unused, double *out_1793496235482586006) { - out_1793496235482586006[0] = state[7]; +void h_26(double *state, double *unused, double *out_3034246647663798505) { + out_3034246647663798505[0] = state[7]; } -void H_26(double *state, double *unused, double *out_8971260209992359433) { - out_8971260209992359433[0] = 0; - out_8971260209992359433[1] = 0; - out_8971260209992359433[2] = 0; - out_8971260209992359433[3] = 0; - out_8971260209992359433[4] = 0; - out_8971260209992359433[5] = 0; - out_8971260209992359433[6] = 0; - out_8971260209992359433[7] = 1; - out_8971260209992359433[8] = 0; +void H_26(double *state, double *unused, double *out_8483922657899642015) { + out_8483922657899642015[0] = 0; + out_8483922657899642015[1] = 0; + out_8483922657899642015[2] = 0; + out_8483922657899642015[3] = 0; + out_8483922657899642015[4] = 0; + out_8483922657899642015[5] = 0; + out_8483922657899642015[6] = 0; + out_8483922657899642015[7] = 1; + out_8483922657899642015[8] = 0; } -void h_27(double *state, double *unused, double *out_8064330475618450313) { - out_8064330475618450313[0] = state[3]; +void h_27(double *state, double *unused, double *out_3649634678173489312) { + out_3649634678173489312[0] = state[3]; } -void H_27(double *state, double *unused, double *out_7533859150061968190) { - out_7533859150061968190[0] = 0; - out_7533859150061968190[1] = 0; - out_7533859150061968190[2] = 0; - out_7533859150061968190[3] = 1; - out_7533859150061968190[4] = 0; - out_7533859150061968190[5] = 0; - out_7533859150061968190[6] = 0; - out_7533859150061968190[7] = 0; - out_7533859150061968190[8] = 0; +void H_27(double *state, double *unused, double *out_5522966334845665130) { + out_5522966334845665130[0] = 0; + out_5522966334845665130[1] = 0; + out_5522966334845665130[2] = 0; + out_5522966334845665130[3] = 1; + out_5522966334845665130[4] = 0; + out_5522966334845665130[5] = 0; + out_5522966334845665130[6] = 0; + out_5522966334845665130[7] = 0; + out_5522966334845665130[8] = 0; } -void h_29(double *state, double *unused, double *out_6613699082989567146) { - out_6613699082989567146[0] = state[1]; +void h_29(double *state, double *unused, double *out_3374440615888983423) { + out_3374440615888983423[0] = state[1]; } -void H_29(double *state, double *unused, double *out_4848864493947151095) { - out_4848864493947151095[0] = 0; - out_4848864493947151095[1] = 1; - out_4848864493947151095[2] = 0; - out_4848864493947151095[3] = 0; - out_4848864493947151095[4] = 0; - out_4848864493947151095[5] = 0; - out_4848864493947151095[6] = 0; - out_4848864493947151095[7] = 0; - out_4848864493947151095[8] = 0; +void H_29(double *state, double *unused, double *out_8207960990960482225) { + out_8207960990960482225[0] = 0; + out_8207960990960482225[1] = 1; + out_8207960990960482225[2] = 0; + out_8207960990960482225[3] = 0; + out_8207960990960482225[4] = 0; + out_8207960990960482225[5] = 0; + out_8207960990960482225[6] = 0; + out_8207960990960482225[7] = 0; + out_8207960990960482225[8] = 0; } -void h_28(double *state, double *unused, double *out_7120820622716787878) { - out_7120820622716787878[0] = state[0]; +void h_28(double *state, double *unused, double *out_1352038589487356333) { + out_1352038589487356333[0] = state[0]; } -void H_28(double *state, double *unused, double *out_4117123179708501819) { - out_4117123179708501819[0] = 1; - out_4117123179708501819[1] = 0; - out_4117123179708501819[2] = 0; - out_4117123179708501819[3] = 0; - out_4117123179708501819[4] = 0; - out_4117123179708501819[5] = 0; - out_4117123179708501819[6] = 0; - out_4117123179708501819[7] = 0; - out_4117123179708501819[8] = 0; +void H_28(double *state, double *unused, double *out_3125561973890951651) { + out_3125561973890951651[0] = 1; + out_3125561973890951651[1] = 0; + out_3125561973890951651[2] = 0; + out_3125561973890951651[3] = 0; + out_3125561973890951651[4] = 0; + out_3125561973890951651[5] = 0; + out_3125561973890951651[6] = 0; + out_3125561973890951651[7] = 0; + out_3125561973890951651[8] = 0; } -void h_31(double *state, double *unused, double *out_574792320296417682) { - out_574792320296417682[0] = state[8]; +void h_31(double *state, double *unused, double *out_8114634039278468481) { + out_8114634039278468481[0] = state[8]; } -void H_31(double *state, double *unused, double *out_5199110929241342781) { - out_5199110929241342781[0] = 0; - out_5199110929241342781[1] = 0; - out_5199110929241342781[2] = 0; - out_5199110929241342781[3] = 0; - out_5199110929241342781[4] = 0; - out_5199110929241342781[5] = 0; - out_5199110929241342781[6] = 0; - out_5199110929241342781[7] = 0; - out_5199110929241342781[8] = 1; +void H_31(double *state, double *unused, double *out_7857714555666290539) { + out_7857714555666290539[0] = 0; + out_7857714555666290539[1] = 0; + out_7857714555666290539[2] = 0; + out_7857714555666290539[3] = 0; + out_7857714555666290539[4] = 0; + out_7857714555666290539[5] = 0; + out_7857714555666290539[6] = 0; + out_7857714555666290539[7] = 0; + out_7857714555666290539[8] = 1; } #include #include @@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31); } -void car_err_fun(double *nom_x, double *delta_x, double *out_3928386937016580969) { - err_fun(nom_x, delta_x, out_3928386937016580969); +void car_err_fun(double *nom_x, double *delta_x, double *out_1506475022093702388) { + err_fun(nom_x, delta_x, out_1506475022093702388); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5072261536488927858) { - inv_err_fun(nom_x, true_x, out_5072261536488927858); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_9143363731815594717) { + inv_err_fun(nom_x, true_x, out_9143363731815594717); } -void car_H_mod_fun(double *state, double *out_1805157416881491113) { - H_mod_fun(state, out_1805157416881491113); +void car_H_mod_fun(double *state, double *out_9131407703981301731) { + H_mod_fun(state, out_9131407703981301731); } -void car_f_fun(double *state, double dt, double *out_779920196187082914) { - f_fun(state, dt, out_779920196187082914); +void car_f_fun(double *state, double dt, double *out_384729614673600146) { + f_fun(state, dt, out_384729614673600146); } -void car_F_fun(double *state, double dt, double *out_3629707451146971735) { - F_fun(state, dt, out_3629707451146971735); +void car_F_fun(double *state, double dt, double *out_7440730494263305444) { + F_fun(state, dt, out_7440730494263305444); } -void car_h_25(double *state, double *unused, double *out_3062657207957604668) { - h_25(state, unused, out_3062657207957604668); +void car_h_25(double *state, double *unused, double *out_4252950562849966829) { + h_25(state, unused, out_4252950562849966829); } -void car_H_25(double *state, double *unused, double *out_6170957893956391582) { - H_25(state, unused, out_6170957893956391582); +void car_H_25(double *state, double *unused, double *out_6221318096935853377) { + H_25(state, unused, out_6221318096935853377); } -void car_h_24(double *state, double *unused, double *out_4363661235373079824) { - h_24(state, unused, out_4363661235373079824); +void car_h_24(double *state, double *unused, double *out_3680087672280189791) { + h_24(state, unused, out_3680087672280189791); } -void car_H_24(double *state, double *unused, double *out_6464400548730383069) { - H_24(state, unused, out_6464400548730383069); +void car_H_24(double *state, double *unused, double *out_9166284664138259719) { + H_24(state, unused, out_9166284664138259719); } -void car_h_30(double *state, double *unused, double *out_8192537752896435152) { - h_30(state, unused, out_8192537752896435152); +void car_h_30(double *state, double *unused, double *out_7996626645345091737) { + h_30(state, unused, out_7996626645345091737); } -void car_H_30(double *state, double *unused, double *out_5359095838261543279) { - H_30(state, unused, out_5359095838261543279); +void car_H_30(double *state, double *unused, double *out_7697729646646090041) { + H_30(state, unused, out_7697729646646090041); } -void car_h_26(double *state, double *unused, double *out_1793496235482586006) { - h_26(state, unused, out_1793496235482586006); +void car_h_26(double *state, double *unused, double *out_3034246647663798505) { + h_26(state, unused, out_3034246647663798505); } -void car_H_26(double *state, double *unused, double *out_8971260209992359433) { - H_26(state, unused, out_8971260209992359433); +void car_H_26(double *state, double *unused, double *out_8483922657899642015) { + H_26(state, unused, out_8483922657899642015); } -void car_h_27(double *state, double *unused, double *out_8064330475618450313) { - h_27(state, unused, out_8064330475618450313); +void car_h_27(double *state, double *unused, double *out_3649634678173489312) { + h_27(state, unused, out_3649634678173489312); } -void car_H_27(double *state, double *unused, double *out_7533859150061968190) { - H_27(state, unused, out_7533859150061968190); +void car_H_27(double *state, double *unused, double *out_5522966334845665130) { + H_27(state, unused, out_5522966334845665130); } -void car_h_29(double *state, double *unused, double *out_6613699082989567146) { - h_29(state, unused, out_6613699082989567146); +void car_h_29(double *state, double *unused, double *out_3374440615888983423) { + h_29(state, unused, out_3374440615888983423); } -void car_H_29(double *state, double *unused, double *out_4848864493947151095) { - H_29(state, unused, out_4848864493947151095); +void car_H_29(double *state, double *unused, double *out_8207960990960482225) { + H_29(state, unused, out_8207960990960482225); } -void car_h_28(double *state, double *unused, double *out_7120820622716787878) { - h_28(state, unused, out_7120820622716787878); +void car_h_28(double *state, double *unused, double *out_1352038589487356333) { + h_28(state, unused, out_1352038589487356333); } -void car_H_28(double *state, double *unused, double *out_4117123179708501819) { - H_28(state, unused, out_4117123179708501819); +void car_H_28(double *state, double *unused, double *out_3125561973890951651) { + H_28(state, unused, out_3125561973890951651); } -void car_h_31(double *state, double *unused, double *out_574792320296417682) { - h_31(state, unused, out_574792320296417682); +void car_h_31(double *state, double *unused, double *out_8114634039278468481) { + h_31(state, unused, out_8114634039278468481); } -void car_H_31(double *state, double *unused, double *out_5199110929241342781) { - H_31(state, unused, out_5199110929241342781); +void car_H_31(double *state, double *unused, double *out_7857714555666290539) { + H_31(state, unused, out_7857714555666290539); } void car_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/car.h b/selfdrive/locationd/models/generated/car.h index 83ddcfab1..db762190d 100644 --- a/selfdrive/locationd/models/generated/car.h +++ b/selfdrive/locationd/models/generated/car.h @@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void car_err_fun(double *nom_x, double *delta_x, double *out_3928386937016580969); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5072261536488927858); -void car_H_mod_fun(double *state, double *out_1805157416881491113); -void car_f_fun(double *state, double dt, double *out_779920196187082914); -void car_F_fun(double *state, double dt, double *out_3629707451146971735); -void car_h_25(double *state, double *unused, double *out_3062657207957604668); -void car_H_25(double *state, double *unused, double *out_6170957893956391582); -void car_h_24(double *state, double *unused, double *out_4363661235373079824); -void car_H_24(double *state, double *unused, double *out_6464400548730383069); -void car_h_30(double *state, double *unused, double *out_8192537752896435152); -void car_H_30(double *state, double *unused, double *out_5359095838261543279); -void car_h_26(double *state, double *unused, double *out_1793496235482586006); -void car_H_26(double *state, double *unused, double *out_8971260209992359433); -void car_h_27(double *state, double *unused, double *out_8064330475618450313); -void car_H_27(double *state, double *unused, double *out_7533859150061968190); -void car_h_29(double *state, double *unused, double *out_6613699082989567146); -void car_H_29(double *state, double *unused, double *out_4848864493947151095); -void car_h_28(double *state, double *unused, double *out_7120820622716787878); -void car_H_28(double *state, double *unused, double *out_4117123179708501819); -void car_h_31(double *state, double *unused, double *out_574792320296417682); -void car_H_31(double *state, double *unused, double *out_5199110929241342781); +void car_err_fun(double *nom_x, double *delta_x, double *out_1506475022093702388); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_9143363731815594717); +void car_H_mod_fun(double *state, double *out_9131407703981301731); +void car_f_fun(double *state, double dt, double *out_384729614673600146); +void car_F_fun(double *state, double dt, double *out_7440730494263305444); +void car_h_25(double *state, double *unused, double *out_4252950562849966829); +void car_H_25(double *state, double *unused, double *out_6221318096935853377); +void car_h_24(double *state, double *unused, double *out_3680087672280189791); +void car_H_24(double *state, double *unused, double *out_9166284664138259719); +void car_h_30(double *state, double *unused, double *out_7996626645345091737); +void car_H_30(double *state, double *unused, double *out_7697729646646090041); +void car_h_26(double *state, double *unused, double *out_3034246647663798505); +void car_H_26(double *state, double *unused, double *out_8483922657899642015); +void car_h_27(double *state, double *unused, double *out_3649634678173489312); +void car_H_27(double *state, double *unused, double *out_5522966334845665130); +void car_h_29(double *state, double *unused, double *out_3374440615888983423); +void car_H_29(double *state, double *unused, double *out_8207960990960482225); +void car_h_28(double *state, double *unused, double *out_1352038589487356333); +void car_H_28(double *state, double *unused, double *out_3125561973890951651); +void car_h_31(double *state, double *unused, double *out_8114634039278468481); +void car_H_31(double *state, double *unused, double *out_7857714555666290539); void car_predict(double *in_x, double *in_P, double *in_Q, double dt); void car_set_mass(double x); void car_set_rotational_inertia(double x); diff --git a/selfdrive/locationd/models/generated/pose.cpp b/selfdrive/locationd/models/generated/pose.cpp index 45c5c36d5..89af70146 100644 --- a/selfdrive/locationd/models/generated/pose.cpp +++ b/selfdrive/locationd/models/generated/pose.cpp @@ -17,961 +17,961 @@ const static double MAHA_THRESH_14 = 7.814727903251177; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_9137514370372247790) { - out_9137514370372247790[0] = delta_x[0] + nom_x[0]; - out_9137514370372247790[1] = delta_x[1] + nom_x[1]; - out_9137514370372247790[2] = delta_x[2] + nom_x[2]; - out_9137514370372247790[3] = delta_x[3] + nom_x[3]; - out_9137514370372247790[4] = delta_x[4] + nom_x[4]; - out_9137514370372247790[5] = delta_x[5] + nom_x[5]; - out_9137514370372247790[6] = delta_x[6] + nom_x[6]; - out_9137514370372247790[7] = delta_x[7] + nom_x[7]; - out_9137514370372247790[8] = delta_x[8] + nom_x[8]; - out_9137514370372247790[9] = delta_x[9] + nom_x[9]; - out_9137514370372247790[10] = delta_x[10] + nom_x[10]; - out_9137514370372247790[11] = delta_x[11] + nom_x[11]; - out_9137514370372247790[12] = delta_x[12] + nom_x[12]; - out_9137514370372247790[13] = delta_x[13] + nom_x[13]; - out_9137514370372247790[14] = delta_x[14] + nom_x[14]; - out_9137514370372247790[15] = delta_x[15] + nom_x[15]; - out_9137514370372247790[16] = delta_x[16] + nom_x[16]; - out_9137514370372247790[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_5763415234273933913) { + out_5763415234273933913[0] = delta_x[0] + nom_x[0]; + out_5763415234273933913[1] = delta_x[1] + nom_x[1]; + out_5763415234273933913[2] = delta_x[2] + nom_x[2]; + out_5763415234273933913[3] = delta_x[3] + nom_x[3]; + out_5763415234273933913[4] = delta_x[4] + nom_x[4]; + out_5763415234273933913[5] = delta_x[5] + nom_x[5]; + out_5763415234273933913[6] = delta_x[6] + nom_x[6]; + out_5763415234273933913[7] = delta_x[7] + nom_x[7]; + out_5763415234273933913[8] = delta_x[8] + nom_x[8]; + out_5763415234273933913[9] = delta_x[9] + nom_x[9]; + out_5763415234273933913[10] = delta_x[10] + nom_x[10]; + out_5763415234273933913[11] = delta_x[11] + nom_x[11]; + out_5763415234273933913[12] = delta_x[12] + nom_x[12]; + out_5763415234273933913[13] = delta_x[13] + nom_x[13]; + out_5763415234273933913[14] = delta_x[14] + nom_x[14]; + out_5763415234273933913[15] = delta_x[15] + nom_x[15]; + out_5763415234273933913[16] = delta_x[16] + nom_x[16]; + out_5763415234273933913[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3476070474607186610) { - out_3476070474607186610[0] = -nom_x[0] + true_x[0]; - out_3476070474607186610[1] = -nom_x[1] + true_x[1]; - out_3476070474607186610[2] = -nom_x[2] + true_x[2]; - out_3476070474607186610[3] = -nom_x[3] + true_x[3]; - out_3476070474607186610[4] = -nom_x[4] + true_x[4]; - out_3476070474607186610[5] = -nom_x[5] + true_x[5]; - out_3476070474607186610[6] = -nom_x[6] + true_x[6]; - out_3476070474607186610[7] = -nom_x[7] + true_x[7]; - out_3476070474607186610[8] = -nom_x[8] + true_x[8]; - out_3476070474607186610[9] = -nom_x[9] + true_x[9]; - out_3476070474607186610[10] = -nom_x[10] + true_x[10]; - out_3476070474607186610[11] = -nom_x[11] + true_x[11]; - out_3476070474607186610[12] = -nom_x[12] + true_x[12]; - out_3476070474607186610[13] = -nom_x[13] + true_x[13]; - out_3476070474607186610[14] = -nom_x[14] + true_x[14]; - out_3476070474607186610[15] = -nom_x[15] + true_x[15]; - out_3476070474607186610[16] = -nom_x[16] + true_x[16]; - out_3476070474607186610[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1417325942549329712) { + out_1417325942549329712[0] = -nom_x[0] + true_x[0]; + out_1417325942549329712[1] = -nom_x[1] + true_x[1]; + out_1417325942549329712[2] = -nom_x[2] + true_x[2]; + out_1417325942549329712[3] = -nom_x[3] + true_x[3]; + out_1417325942549329712[4] = -nom_x[4] + true_x[4]; + out_1417325942549329712[5] = -nom_x[5] + true_x[5]; + out_1417325942549329712[6] = -nom_x[6] + true_x[6]; + out_1417325942549329712[7] = -nom_x[7] + true_x[7]; + out_1417325942549329712[8] = -nom_x[8] + true_x[8]; + out_1417325942549329712[9] = -nom_x[9] + true_x[9]; + out_1417325942549329712[10] = -nom_x[10] + true_x[10]; + out_1417325942549329712[11] = -nom_x[11] + true_x[11]; + out_1417325942549329712[12] = -nom_x[12] + true_x[12]; + out_1417325942549329712[13] = -nom_x[13] + true_x[13]; + out_1417325942549329712[14] = -nom_x[14] + true_x[14]; + out_1417325942549329712[15] = -nom_x[15] + true_x[15]; + out_1417325942549329712[16] = -nom_x[16] + true_x[16]; + out_1417325942549329712[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_2374218852650606410) { - out_2374218852650606410[0] = 1.0; - out_2374218852650606410[1] = 0.0; - out_2374218852650606410[2] = 0.0; - out_2374218852650606410[3] = 0.0; - out_2374218852650606410[4] = 0.0; - out_2374218852650606410[5] = 0.0; - out_2374218852650606410[6] = 0.0; - out_2374218852650606410[7] = 0.0; - out_2374218852650606410[8] = 0.0; - out_2374218852650606410[9] = 0.0; - out_2374218852650606410[10] = 0.0; - out_2374218852650606410[11] = 0.0; - out_2374218852650606410[12] = 0.0; - out_2374218852650606410[13] = 0.0; - out_2374218852650606410[14] = 0.0; - out_2374218852650606410[15] = 0.0; - out_2374218852650606410[16] = 0.0; - out_2374218852650606410[17] = 0.0; - out_2374218852650606410[18] = 0.0; - out_2374218852650606410[19] = 1.0; - out_2374218852650606410[20] = 0.0; - out_2374218852650606410[21] = 0.0; - out_2374218852650606410[22] = 0.0; - out_2374218852650606410[23] = 0.0; - out_2374218852650606410[24] = 0.0; - out_2374218852650606410[25] = 0.0; - out_2374218852650606410[26] = 0.0; - out_2374218852650606410[27] = 0.0; - out_2374218852650606410[28] = 0.0; - out_2374218852650606410[29] = 0.0; - out_2374218852650606410[30] = 0.0; - out_2374218852650606410[31] = 0.0; - out_2374218852650606410[32] = 0.0; - out_2374218852650606410[33] = 0.0; - out_2374218852650606410[34] = 0.0; - out_2374218852650606410[35] = 0.0; - out_2374218852650606410[36] = 0.0; - out_2374218852650606410[37] = 0.0; - out_2374218852650606410[38] = 1.0; - out_2374218852650606410[39] = 0.0; - out_2374218852650606410[40] = 0.0; - out_2374218852650606410[41] = 0.0; - out_2374218852650606410[42] = 0.0; - out_2374218852650606410[43] = 0.0; - out_2374218852650606410[44] = 0.0; - out_2374218852650606410[45] = 0.0; - out_2374218852650606410[46] = 0.0; - out_2374218852650606410[47] = 0.0; - out_2374218852650606410[48] = 0.0; - out_2374218852650606410[49] = 0.0; - out_2374218852650606410[50] = 0.0; - out_2374218852650606410[51] = 0.0; - out_2374218852650606410[52] = 0.0; - out_2374218852650606410[53] = 0.0; - out_2374218852650606410[54] = 0.0; - out_2374218852650606410[55] = 0.0; - out_2374218852650606410[56] = 0.0; - out_2374218852650606410[57] = 1.0; - out_2374218852650606410[58] = 0.0; - out_2374218852650606410[59] = 0.0; - out_2374218852650606410[60] = 0.0; - out_2374218852650606410[61] = 0.0; - out_2374218852650606410[62] = 0.0; - out_2374218852650606410[63] = 0.0; - out_2374218852650606410[64] = 0.0; - out_2374218852650606410[65] = 0.0; - out_2374218852650606410[66] = 0.0; - out_2374218852650606410[67] = 0.0; - out_2374218852650606410[68] = 0.0; - out_2374218852650606410[69] = 0.0; - out_2374218852650606410[70] = 0.0; - out_2374218852650606410[71] = 0.0; - out_2374218852650606410[72] = 0.0; - out_2374218852650606410[73] = 0.0; - out_2374218852650606410[74] = 0.0; - out_2374218852650606410[75] = 0.0; - out_2374218852650606410[76] = 1.0; - out_2374218852650606410[77] = 0.0; - out_2374218852650606410[78] = 0.0; - out_2374218852650606410[79] = 0.0; - out_2374218852650606410[80] = 0.0; - out_2374218852650606410[81] = 0.0; - out_2374218852650606410[82] = 0.0; - out_2374218852650606410[83] = 0.0; - out_2374218852650606410[84] = 0.0; - out_2374218852650606410[85] = 0.0; - out_2374218852650606410[86] = 0.0; - out_2374218852650606410[87] = 0.0; - out_2374218852650606410[88] = 0.0; - out_2374218852650606410[89] = 0.0; - out_2374218852650606410[90] = 0.0; - out_2374218852650606410[91] = 0.0; - out_2374218852650606410[92] = 0.0; - out_2374218852650606410[93] = 0.0; - out_2374218852650606410[94] = 0.0; - out_2374218852650606410[95] = 1.0; - out_2374218852650606410[96] = 0.0; - out_2374218852650606410[97] = 0.0; - out_2374218852650606410[98] = 0.0; - out_2374218852650606410[99] = 0.0; - out_2374218852650606410[100] = 0.0; - out_2374218852650606410[101] = 0.0; - out_2374218852650606410[102] = 0.0; - out_2374218852650606410[103] = 0.0; - out_2374218852650606410[104] = 0.0; - out_2374218852650606410[105] = 0.0; - out_2374218852650606410[106] = 0.0; - out_2374218852650606410[107] = 0.0; - out_2374218852650606410[108] = 0.0; - out_2374218852650606410[109] = 0.0; - out_2374218852650606410[110] = 0.0; - out_2374218852650606410[111] = 0.0; - out_2374218852650606410[112] = 0.0; - out_2374218852650606410[113] = 0.0; - out_2374218852650606410[114] = 1.0; - out_2374218852650606410[115] = 0.0; - out_2374218852650606410[116] = 0.0; - out_2374218852650606410[117] = 0.0; - out_2374218852650606410[118] = 0.0; - out_2374218852650606410[119] = 0.0; - out_2374218852650606410[120] = 0.0; - out_2374218852650606410[121] = 0.0; - out_2374218852650606410[122] = 0.0; - out_2374218852650606410[123] = 0.0; - out_2374218852650606410[124] = 0.0; - out_2374218852650606410[125] = 0.0; - out_2374218852650606410[126] = 0.0; - out_2374218852650606410[127] = 0.0; - out_2374218852650606410[128] = 0.0; - out_2374218852650606410[129] = 0.0; - out_2374218852650606410[130] = 0.0; - out_2374218852650606410[131] = 0.0; - out_2374218852650606410[132] = 0.0; - out_2374218852650606410[133] = 1.0; - out_2374218852650606410[134] = 0.0; - out_2374218852650606410[135] = 0.0; - out_2374218852650606410[136] = 0.0; - out_2374218852650606410[137] = 0.0; - out_2374218852650606410[138] = 0.0; - out_2374218852650606410[139] = 0.0; - out_2374218852650606410[140] = 0.0; - out_2374218852650606410[141] = 0.0; - out_2374218852650606410[142] = 0.0; - out_2374218852650606410[143] = 0.0; - out_2374218852650606410[144] = 0.0; - out_2374218852650606410[145] = 0.0; - out_2374218852650606410[146] = 0.0; - out_2374218852650606410[147] = 0.0; - out_2374218852650606410[148] = 0.0; - out_2374218852650606410[149] = 0.0; - out_2374218852650606410[150] = 0.0; - out_2374218852650606410[151] = 0.0; - out_2374218852650606410[152] = 1.0; - out_2374218852650606410[153] = 0.0; - out_2374218852650606410[154] = 0.0; - out_2374218852650606410[155] = 0.0; - out_2374218852650606410[156] = 0.0; - out_2374218852650606410[157] = 0.0; - out_2374218852650606410[158] = 0.0; - out_2374218852650606410[159] = 0.0; - out_2374218852650606410[160] = 0.0; - out_2374218852650606410[161] = 0.0; - out_2374218852650606410[162] = 0.0; - out_2374218852650606410[163] = 0.0; - out_2374218852650606410[164] = 0.0; - out_2374218852650606410[165] = 0.0; - out_2374218852650606410[166] = 0.0; - out_2374218852650606410[167] = 0.0; - out_2374218852650606410[168] = 0.0; - out_2374218852650606410[169] = 0.0; - out_2374218852650606410[170] = 0.0; - out_2374218852650606410[171] = 1.0; - out_2374218852650606410[172] = 0.0; - out_2374218852650606410[173] = 0.0; - out_2374218852650606410[174] = 0.0; - out_2374218852650606410[175] = 0.0; - out_2374218852650606410[176] = 0.0; - out_2374218852650606410[177] = 0.0; - out_2374218852650606410[178] = 0.0; - out_2374218852650606410[179] = 0.0; - out_2374218852650606410[180] = 0.0; - out_2374218852650606410[181] = 0.0; - out_2374218852650606410[182] = 0.0; - out_2374218852650606410[183] = 0.0; - out_2374218852650606410[184] = 0.0; - out_2374218852650606410[185] = 0.0; - out_2374218852650606410[186] = 0.0; - out_2374218852650606410[187] = 0.0; - out_2374218852650606410[188] = 0.0; - out_2374218852650606410[189] = 0.0; - out_2374218852650606410[190] = 1.0; - out_2374218852650606410[191] = 0.0; - out_2374218852650606410[192] = 0.0; - out_2374218852650606410[193] = 0.0; - out_2374218852650606410[194] = 0.0; - out_2374218852650606410[195] = 0.0; - out_2374218852650606410[196] = 0.0; - out_2374218852650606410[197] = 0.0; - out_2374218852650606410[198] = 0.0; - out_2374218852650606410[199] = 0.0; - out_2374218852650606410[200] = 0.0; - out_2374218852650606410[201] = 0.0; - out_2374218852650606410[202] = 0.0; - out_2374218852650606410[203] = 0.0; - out_2374218852650606410[204] = 0.0; - out_2374218852650606410[205] = 0.0; - out_2374218852650606410[206] = 0.0; - out_2374218852650606410[207] = 0.0; - out_2374218852650606410[208] = 0.0; - out_2374218852650606410[209] = 1.0; - out_2374218852650606410[210] = 0.0; - out_2374218852650606410[211] = 0.0; - out_2374218852650606410[212] = 0.0; - out_2374218852650606410[213] = 0.0; - out_2374218852650606410[214] = 0.0; - out_2374218852650606410[215] = 0.0; - out_2374218852650606410[216] = 0.0; - out_2374218852650606410[217] = 0.0; - out_2374218852650606410[218] = 0.0; - out_2374218852650606410[219] = 0.0; - out_2374218852650606410[220] = 0.0; - out_2374218852650606410[221] = 0.0; - out_2374218852650606410[222] = 0.0; - out_2374218852650606410[223] = 0.0; - out_2374218852650606410[224] = 0.0; - out_2374218852650606410[225] = 0.0; - out_2374218852650606410[226] = 0.0; - out_2374218852650606410[227] = 0.0; - out_2374218852650606410[228] = 1.0; - out_2374218852650606410[229] = 0.0; - out_2374218852650606410[230] = 0.0; - out_2374218852650606410[231] = 0.0; - out_2374218852650606410[232] = 0.0; - out_2374218852650606410[233] = 0.0; - out_2374218852650606410[234] = 0.0; - out_2374218852650606410[235] = 0.0; - out_2374218852650606410[236] = 0.0; - out_2374218852650606410[237] = 0.0; - out_2374218852650606410[238] = 0.0; - out_2374218852650606410[239] = 0.0; - out_2374218852650606410[240] = 0.0; - out_2374218852650606410[241] = 0.0; - out_2374218852650606410[242] = 0.0; - out_2374218852650606410[243] = 0.0; - out_2374218852650606410[244] = 0.0; - out_2374218852650606410[245] = 0.0; - out_2374218852650606410[246] = 0.0; - out_2374218852650606410[247] = 1.0; - out_2374218852650606410[248] = 0.0; - out_2374218852650606410[249] = 0.0; - out_2374218852650606410[250] = 0.0; - out_2374218852650606410[251] = 0.0; - out_2374218852650606410[252] = 0.0; - out_2374218852650606410[253] = 0.0; - out_2374218852650606410[254] = 0.0; - out_2374218852650606410[255] = 0.0; - out_2374218852650606410[256] = 0.0; - out_2374218852650606410[257] = 0.0; - out_2374218852650606410[258] = 0.0; - out_2374218852650606410[259] = 0.0; - out_2374218852650606410[260] = 0.0; - out_2374218852650606410[261] = 0.0; - out_2374218852650606410[262] = 0.0; - out_2374218852650606410[263] = 0.0; - out_2374218852650606410[264] = 0.0; - out_2374218852650606410[265] = 0.0; - out_2374218852650606410[266] = 1.0; - out_2374218852650606410[267] = 0.0; - out_2374218852650606410[268] = 0.0; - out_2374218852650606410[269] = 0.0; - out_2374218852650606410[270] = 0.0; - out_2374218852650606410[271] = 0.0; - out_2374218852650606410[272] = 0.0; - out_2374218852650606410[273] = 0.0; - out_2374218852650606410[274] = 0.0; - out_2374218852650606410[275] = 0.0; - out_2374218852650606410[276] = 0.0; - out_2374218852650606410[277] = 0.0; - out_2374218852650606410[278] = 0.0; - out_2374218852650606410[279] = 0.0; - out_2374218852650606410[280] = 0.0; - out_2374218852650606410[281] = 0.0; - out_2374218852650606410[282] = 0.0; - out_2374218852650606410[283] = 0.0; - out_2374218852650606410[284] = 0.0; - out_2374218852650606410[285] = 1.0; - out_2374218852650606410[286] = 0.0; - out_2374218852650606410[287] = 0.0; - out_2374218852650606410[288] = 0.0; - out_2374218852650606410[289] = 0.0; - out_2374218852650606410[290] = 0.0; - out_2374218852650606410[291] = 0.0; - out_2374218852650606410[292] = 0.0; - out_2374218852650606410[293] = 0.0; - out_2374218852650606410[294] = 0.0; - out_2374218852650606410[295] = 0.0; - out_2374218852650606410[296] = 0.0; - out_2374218852650606410[297] = 0.0; - out_2374218852650606410[298] = 0.0; - out_2374218852650606410[299] = 0.0; - out_2374218852650606410[300] = 0.0; - out_2374218852650606410[301] = 0.0; - out_2374218852650606410[302] = 0.0; - out_2374218852650606410[303] = 0.0; - out_2374218852650606410[304] = 1.0; - out_2374218852650606410[305] = 0.0; - out_2374218852650606410[306] = 0.0; - out_2374218852650606410[307] = 0.0; - out_2374218852650606410[308] = 0.0; - out_2374218852650606410[309] = 0.0; - out_2374218852650606410[310] = 0.0; - out_2374218852650606410[311] = 0.0; - out_2374218852650606410[312] = 0.0; - out_2374218852650606410[313] = 0.0; - out_2374218852650606410[314] = 0.0; - out_2374218852650606410[315] = 0.0; - out_2374218852650606410[316] = 0.0; - out_2374218852650606410[317] = 0.0; - out_2374218852650606410[318] = 0.0; - out_2374218852650606410[319] = 0.0; - out_2374218852650606410[320] = 0.0; - out_2374218852650606410[321] = 0.0; - out_2374218852650606410[322] = 0.0; - out_2374218852650606410[323] = 1.0; +void H_mod_fun(double *state, double *out_7849761791714406524) { + out_7849761791714406524[0] = 1.0; + out_7849761791714406524[1] = 0.0; + out_7849761791714406524[2] = 0.0; + out_7849761791714406524[3] = 0.0; + out_7849761791714406524[4] = 0.0; + out_7849761791714406524[5] = 0.0; + out_7849761791714406524[6] = 0.0; + out_7849761791714406524[7] = 0.0; + out_7849761791714406524[8] = 0.0; + out_7849761791714406524[9] = 0.0; + out_7849761791714406524[10] = 0.0; + out_7849761791714406524[11] = 0.0; + out_7849761791714406524[12] = 0.0; + out_7849761791714406524[13] = 0.0; + out_7849761791714406524[14] = 0.0; + out_7849761791714406524[15] = 0.0; + out_7849761791714406524[16] = 0.0; + out_7849761791714406524[17] = 0.0; + out_7849761791714406524[18] = 0.0; + out_7849761791714406524[19] = 1.0; + out_7849761791714406524[20] = 0.0; + out_7849761791714406524[21] = 0.0; + out_7849761791714406524[22] = 0.0; + out_7849761791714406524[23] = 0.0; + out_7849761791714406524[24] = 0.0; + out_7849761791714406524[25] = 0.0; + out_7849761791714406524[26] = 0.0; + out_7849761791714406524[27] = 0.0; + out_7849761791714406524[28] = 0.0; + out_7849761791714406524[29] = 0.0; + out_7849761791714406524[30] = 0.0; + out_7849761791714406524[31] = 0.0; + out_7849761791714406524[32] = 0.0; + out_7849761791714406524[33] = 0.0; + out_7849761791714406524[34] = 0.0; + out_7849761791714406524[35] = 0.0; + out_7849761791714406524[36] = 0.0; + out_7849761791714406524[37] = 0.0; + out_7849761791714406524[38] = 1.0; + out_7849761791714406524[39] = 0.0; + out_7849761791714406524[40] = 0.0; + out_7849761791714406524[41] = 0.0; + out_7849761791714406524[42] = 0.0; + out_7849761791714406524[43] = 0.0; + out_7849761791714406524[44] = 0.0; + out_7849761791714406524[45] = 0.0; + out_7849761791714406524[46] = 0.0; + out_7849761791714406524[47] = 0.0; + out_7849761791714406524[48] = 0.0; + out_7849761791714406524[49] = 0.0; + out_7849761791714406524[50] = 0.0; + out_7849761791714406524[51] = 0.0; + out_7849761791714406524[52] = 0.0; + out_7849761791714406524[53] = 0.0; + out_7849761791714406524[54] = 0.0; + out_7849761791714406524[55] = 0.0; + out_7849761791714406524[56] = 0.0; + out_7849761791714406524[57] = 1.0; + out_7849761791714406524[58] = 0.0; + out_7849761791714406524[59] = 0.0; + out_7849761791714406524[60] = 0.0; + out_7849761791714406524[61] = 0.0; + out_7849761791714406524[62] = 0.0; + out_7849761791714406524[63] = 0.0; + out_7849761791714406524[64] = 0.0; + out_7849761791714406524[65] = 0.0; + out_7849761791714406524[66] = 0.0; + out_7849761791714406524[67] = 0.0; + out_7849761791714406524[68] = 0.0; + out_7849761791714406524[69] = 0.0; + out_7849761791714406524[70] = 0.0; + out_7849761791714406524[71] = 0.0; + out_7849761791714406524[72] = 0.0; + out_7849761791714406524[73] = 0.0; + out_7849761791714406524[74] = 0.0; + out_7849761791714406524[75] = 0.0; + out_7849761791714406524[76] = 1.0; + out_7849761791714406524[77] = 0.0; + out_7849761791714406524[78] = 0.0; + out_7849761791714406524[79] = 0.0; + out_7849761791714406524[80] = 0.0; + out_7849761791714406524[81] = 0.0; + out_7849761791714406524[82] = 0.0; + out_7849761791714406524[83] = 0.0; + out_7849761791714406524[84] = 0.0; + out_7849761791714406524[85] = 0.0; + out_7849761791714406524[86] = 0.0; + out_7849761791714406524[87] = 0.0; + out_7849761791714406524[88] = 0.0; + out_7849761791714406524[89] = 0.0; + out_7849761791714406524[90] = 0.0; + out_7849761791714406524[91] = 0.0; + out_7849761791714406524[92] = 0.0; + out_7849761791714406524[93] = 0.0; + out_7849761791714406524[94] = 0.0; + out_7849761791714406524[95] = 1.0; + out_7849761791714406524[96] = 0.0; + out_7849761791714406524[97] = 0.0; + out_7849761791714406524[98] = 0.0; + out_7849761791714406524[99] = 0.0; + out_7849761791714406524[100] = 0.0; + out_7849761791714406524[101] = 0.0; + out_7849761791714406524[102] = 0.0; + out_7849761791714406524[103] = 0.0; + out_7849761791714406524[104] = 0.0; + out_7849761791714406524[105] = 0.0; + out_7849761791714406524[106] = 0.0; + out_7849761791714406524[107] = 0.0; + out_7849761791714406524[108] = 0.0; + out_7849761791714406524[109] = 0.0; + out_7849761791714406524[110] = 0.0; + out_7849761791714406524[111] = 0.0; + out_7849761791714406524[112] = 0.0; + out_7849761791714406524[113] = 0.0; + out_7849761791714406524[114] = 1.0; + out_7849761791714406524[115] = 0.0; + out_7849761791714406524[116] = 0.0; + out_7849761791714406524[117] = 0.0; + out_7849761791714406524[118] = 0.0; + out_7849761791714406524[119] = 0.0; + out_7849761791714406524[120] = 0.0; + out_7849761791714406524[121] = 0.0; + out_7849761791714406524[122] = 0.0; + out_7849761791714406524[123] = 0.0; + out_7849761791714406524[124] = 0.0; + out_7849761791714406524[125] = 0.0; + out_7849761791714406524[126] = 0.0; + out_7849761791714406524[127] = 0.0; + out_7849761791714406524[128] = 0.0; + out_7849761791714406524[129] = 0.0; + out_7849761791714406524[130] = 0.0; + out_7849761791714406524[131] = 0.0; + out_7849761791714406524[132] = 0.0; + out_7849761791714406524[133] = 1.0; + out_7849761791714406524[134] = 0.0; + out_7849761791714406524[135] = 0.0; + out_7849761791714406524[136] = 0.0; + out_7849761791714406524[137] = 0.0; + out_7849761791714406524[138] = 0.0; + out_7849761791714406524[139] = 0.0; + out_7849761791714406524[140] = 0.0; + out_7849761791714406524[141] = 0.0; + out_7849761791714406524[142] = 0.0; + out_7849761791714406524[143] = 0.0; + out_7849761791714406524[144] = 0.0; + out_7849761791714406524[145] = 0.0; + out_7849761791714406524[146] = 0.0; + out_7849761791714406524[147] = 0.0; + out_7849761791714406524[148] = 0.0; + out_7849761791714406524[149] = 0.0; + out_7849761791714406524[150] = 0.0; + out_7849761791714406524[151] = 0.0; + out_7849761791714406524[152] = 1.0; + out_7849761791714406524[153] = 0.0; + out_7849761791714406524[154] = 0.0; + out_7849761791714406524[155] = 0.0; + out_7849761791714406524[156] = 0.0; + out_7849761791714406524[157] = 0.0; + out_7849761791714406524[158] = 0.0; + out_7849761791714406524[159] = 0.0; + out_7849761791714406524[160] = 0.0; + out_7849761791714406524[161] = 0.0; + out_7849761791714406524[162] = 0.0; + out_7849761791714406524[163] = 0.0; + out_7849761791714406524[164] = 0.0; + out_7849761791714406524[165] = 0.0; + out_7849761791714406524[166] = 0.0; + out_7849761791714406524[167] = 0.0; + out_7849761791714406524[168] = 0.0; + out_7849761791714406524[169] = 0.0; + out_7849761791714406524[170] = 0.0; + out_7849761791714406524[171] = 1.0; + out_7849761791714406524[172] = 0.0; + out_7849761791714406524[173] = 0.0; + out_7849761791714406524[174] = 0.0; + out_7849761791714406524[175] = 0.0; + out_7849761791714406524[176] = 0.0; + out_7849761791714406524[177] = 0.0; + out_7849761791714406524[178] = 0.0; + out_7849761791714406524[179] = 0.0; + out_7849761791714406524[180] = 0.0; + out_7849761791714406524[181] = 0.0; + out_7849761791714406524[182] = 0.0; + out_7849761791714406524[183] = 0.0; + out_7849761791714406524[184] = 0.0; + out_7849761791714406524[185] = 0.0; + out_7849761791714406524[186] = 0.0; + out_7849761791714406524[187] = 0.0; + out_7849761791714406524[188] = 0.0; + out_7849761791714406524[189] = 0.0; + out_7849761791714406524[190] = 1.0; + out_7849761791714406524[191] = 0.0; + out_7849761791714406524[192] = 0.0; + out_7849761791714406524[193] = 0.0; + out_7849761791714406524[194] = 0.0; + out_7849761791714406524[195] = 0.0; + out_7849761791714406524[196] = 0.0; + out_7849761791714406524[197] = 0.0; + out_7849761791714406524[198] = 0.0; + out_7849761791714406524[199] = 0.0; + out_7849761791714406524[200] = 0.0; + out_7849761791714406524[201] = 0.0; + out_7849761791714406524[202] = 0.0; + out_7849761791714406524[203] = 0.0; + out_7849761791714406524[204] = 0.0; + out_7849761791714406524[205] = 0.0; + out_7849761791714406524[206] = 0.0; + out_7849761791714406524[207] = 0.0; + out_7849761791714406524[208] = 0.0; + out_7849761791714406524[209] = 1.0; + out_7849761791714406524[210] = 0.0; + out_7849761791714406524[211] = 0.0; + out_7849761791714406524[212] = 0.0; + out_7849761791714406524[213] = 0.0; + out_7849761791714406524[214] = 0.0; + out_7849761791714406524[215] = 0.0; + out_7849761791714406524[216] = 0.0; + out_7849761791714406524[217] = 0.0; + out_7849761791714406524[218] = 0.0; + out_7849761791714406524[219] = 0.0; + out_7849761791714406524[220] = 0.0; + out_7849761791714406524[221] = 0.0; + out_7849761791714406524[222] = 0.0; + out_7849761791714406524[223] = 0.0; + out_7849761791714406524[224] = 0.0; + out_7849761791714406524[225] = 0.0; + out_7849761791714406524[226] = 0.0; + out_7849761791714406524[227] = 0.0; + out_7849761791714406524[228] = 1.0; + out_7849761791714406524[229] = 0.0; + out_7849761791714406524[230] = 0.0; + out_7849761791714406524[231] = 0.0; + out_7849761791714406524[232] = 0.0; + out_7849761791714406524[233] = 0.0; + out_7849761791714406524[234] = 0.0; + out_7849761791714406524[235] = 0.0; + out_7849761791714406524[236] = 0.0; + out_7849761791714406524[237] = 0.0; + out_7849761791714406524[238] = 0.0; + out_7849761791714406524[239] = 0.0; + out_7849761791714406524[240] = 0.0; + out_7849761791714406524[241] = 0.0; + out_7849761791714406524[242] = 0.0; + out_7849761791714406524[243] = 0.0; + out_7849761791714406524[244] = 0.0; + out_7849761791714406524[245] = 0.0; + out_7849761791714406524[246] = 0.0; + out_7849761791714406524[247] = 1.0; + out_7849761791714406524[248] = 0.0; + out_7849761791714406524[249] = 0.0; + out_7849761791714406524[250] = 0.0; + out_7849761791714406524[251] = 0.0; + out_7849761791714406524[252] = 0.0; + out_7849761791714406524[253] = 0.0; + out_7849761791714406524[254] = 0.0; + out_7849761791714406524[255] = 0.0; + out_7849761791714406524[256] = 0.0; + out_7849761791714406524[257] = 0.0; + out_7849761791714406524[258] = 0.0; + out_7849761791714406524[259] = 0.0; + out_7849761791714406524[260] = 0.0; + out_7849761791714406524[261] = 0.0; + out_7849761791714406524[262] = 0.0; + out_7849761791714406524[263] = 0.0; + out_7849761791714406524[264] = 0.0; + out_7849761791714406524[265] = 0.0; + out_7849761791714406524[266] = 1.0; + out_7849761791714406524[267] = 0.0; + out_7849761791714406524[268] = 0.0; + out_7849761791714406524[269] = 0.0; + out_7849761791714406524[270] = 0.0; + out_7849761791714406524[271] = 0.0; + out_7849761791714406524[272] = 0.0; + out_7849761791714406524[273] = 0.0; + out_7849761791714406524[274] = 0.0; + out_7849761791714406524[275] = 0.0; + out_7849761791714406524[276] = 0.0; + out_7849761791714406524[277] = 0.0; + out_7849761791714406524[278] = 0.0; + out_7849761791714406524[279] = 0.0; + out_7849761791714406524[280] = 0.0; + out_7849761791714406524[281] = 0.0; + out_7849761791714406524[282] = 0.0; + out_7849761791714406524[283] = 0.0; + out_7849761791714406524[284] = 0.0; + out_7849761791714406524[285] = 1.0; + out_7849761791714406524[286] = 0.0; + out_7849761791714406524[287] = 0.0; + out_7849761791714406524[288] = 0.0; + out_7849761791714406524[289] = 0.0; + out_7849761791714406524[290] = 0.0; + out_7849761791714406524[291] = 0.0; + out_7849761791714406524[292] = 0.0; + out_7849761791714406524[293] = 0.0; + out_7849761791714406524[294] = 0.0; + out_7849761791714406524[295] = 0.0; + out_7849761791714406524[296] = 0.0; + out_7849761791714406524[297] = 0.0; + out_7849761791714406524[298] = 0.0; + out_7849761791714406524[299] = 0.0; + out_7849761791714406524[300] = 0.0; + out_7849761791714406524[301] = 0.0; + out_7849761791714406524[302] = 0.0; + out_7849761791714406524[303] = 0.0; + out_7849761791714406524[304] = 1.0; + out_7849761791714406524[305] = 0.0; + out_7849761791714406524[306] = 0.0; + out_7849761791714406524[307] = 0.0; + out_7849761791714406524[308] = 0.0; + out_7849761791714406524[309] = 0.0; + out_7849761791714406524[310] = 0.0; + out_7849761791714406524[311] = 0.0; + out_7849761791714406524[312] = 0.0; + out_7849761791714406524[313] = 0.0; + out_7849761791714406524[314] = 0.0; + out_7849761791714406524[315] = 0.0; + out_7849761791714406524[316] = 0.0; + out_7849761791714406524[317] = 0.0; + out_7849761791714406524[318] = 0.0; + out_7849761791714406524[319] = 0.0; + out_7849761791714406524[320] = 0.0; + out_7849761791714406524[321] = 0.0; + out_7849761791714406524[322] = 0.0; + out_7849761791714406524[323] = 1.0; } -void f_fun(double *state, double dt, double *out_4392889107205501252) { - out_4392889107205501252[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); - out_4392889107205501252[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); - out_4392889107205501252[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); - out_4392889107205501252[3] = dt*state[12] + state[3]; - out_4392889107205501252[4] = dt*state[13] + state[4]; - out_4392889107205501252[5] = dt*state[14] + state[5]; - out_4392889107205501252[6] = state[6]; - out_4392889107205501252[7] = state[7]; - out_4392889107205501252[8] = state[8]; - out_4392889107205501252[9] = state[9]; - out_4392889107205501252[10] = state[10]; - out_4392889107205501252[11] = state[11]; - out_4392889107205501252[12] = state[12]; - out_4392889107205501252[13] = state[13]; - out_4392889107205501252[14] = state[14]; - out_4392889107205501252[15] = state[15]; - out_4392889107205501252[16] = state[16]; - out_4392889107205501252[17] = state[17]; +void f_fun(double *state, double dt, double *out_4127372900134371769) { + out_4127372900134371769[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); + out_4127372900134371769[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); + out_4127372900134371769[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); + out_4127372900134371769[3] = dt*state[12] + state[3]; + out_4127372900134371769[4] = dt*state[13] + state[4]; + out_4127372900134371769[5] = dt*state[14] + state[5]; + out_4127372900134371769[6] = state[6]; + out_4127372900134371769[7] = state[7]; + out_4127372900134371769[8] = state[8]; + out_4127372900134371769[9] = state[9]; + out_4127372900134371769[10] = state[10]; + out_4127372900134371769[11] = state[11]; + out_4127372900134371769[12] = state[12]; + out_4127372900134371769[13] = state[13]; + out_4127372900134371769[14] = state[14]; + out_4127372900134371769[15] = state[15]; + out_4127372900134371769[16] = state[16]; + out_4127372900134371769[17] = state[17]; } -void F_fun(double *state, double dt, double *out_5161498735714983758) { - out_5161498735714983758[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_5161498735714983758[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_5161498735714983758[2] = 0; - out_5161498735714983758[3] = 0; - out_5161498735714983758[4] = 0; - out_5161498735714983758[5] = 0; - out_5161498735714983758[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_5161498735714983758[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_5161498735714983758[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_5161498735714983758[9] = 0; - out_5161498735714983758[10] = 0; - out_5161498735714983758[11] = 0; - out_5161498735714983758[12] = 0; - out_5161498735714983758[13] = 0; - out_5161498735714983758[14] = 0; - out_5161498735714983758[15] = 0; - out_5161498735714983758[16] = 0; - out_5161498735714983758[17] = 0; - out_5161498735714983758[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_5161498735714983758[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_5161498735714983758[20] = 0; - out_5161498735714983758[21] = 0; - out_5161498735714983758[22] = 0; - out_5161498735714983758[23] = 0; - out_5161498735714983758[24] = 0; - out_5161498735714983758[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_5161498735714983758[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_5161498735714983758[27] = 0; - out_5161498735714983758[28] = 0; - out_5161498735714983758[29] = 0; - out_5161498735714983758[30] = 0; - out_5161498735714983758[31] = 0; - out_5161498735714983758[32] = 0; - out_5161498735714983758[33] = 0; - out_5161498735714983758[34] = 0; - out_5161498735714983758[35] = 0; - out_5161498735714983758[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_5161498735714983758[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_5161498735714983758[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_5161498735714983758[39] = 0; - out_5161498735714983758[40] = 0; - out_5161498735714983758[41] = 0; - out_5161498735714983758[42] = 0; - out_5161498735714983758[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_5161498735714983758[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_5161498735714983758[45] = 0; - out_5161498735714983758[46] = 0; - out_5161498735714983758[47] = 0; - out_5161498735714983758[48] = 0; - out_5161498735714983758[49] = 0; - out_5161498735714983758[50] = 0; - out_5161498735714983758[51] = 0; - out_5161498735714983758[52] = 0; - out_5161498735714983758[53] = 0; - out_5161498735714983758[54] = 0; - out_5161498735714983758[55] = 0; - out_5161498735714983758[56] = 0; - out_5161498735714983758[57] = 1; - out_5161498735714983758[58] = 0; - out_5161498735714983758[59] = 0; - out_5161498735714983758[60] = 0; - out_5161498735714983758[61] = 0; - out_5161498735714983758[62] = 0; - out_5161498735714983758[63] = 0; - out_5161498735714983758[64] = 0; - out_5161498735714983758[65] = 0; - out_5161498735714983758[66] = dt; - out_5161498735714983758[67] = 0; - out_5161498735714983758[68] = 0; - out_5161498735714983758[69] = 0; - out_5161498735714983758[70] = 0; - out_5161498735714983758[71] = 0; - out_5161498735714983758[72] = 0; - out_5161498735714983758[73] = 0; - out_5161498735714983758[74] = 0; - out_5161498735714983758[75] = 0; - out_5161498735714983758[76] = 1; - out_5161498735714983758[77] = 0; - out_5161498735714983758[78] = 0; - out_5161498735714983758[79] = 0; - out_5161498735714983758[80] = 0; - out_5161498735714983758[81] = 0; - out_5161498735714983758[82] = 0; - out_5161498735714983758[83] = 0; - out_5161498735714983758[84] = 0; - out_5161498735714983758[85] = dt; - out_5161498735714983758[86] = 0; - out_5161498735714983758[87] = 0; - out_5161498735714983758[88] = 0; - out_5161498735714983758[89] = 0; - out_5161498735714983758[90] = 0; - out_5161498735714983758[91] = 0; - out_5161498735714983758[92] = 0; - out_5161498735714983758[93] = 0; - out_5161498735714983758[94] = 0; - out_5161498735714983758[95] = 1; - out_5161498735714983758[96] = 0; - out_5161498735714983758[97] = 0; - out_5161498735714983758[98] = 0; - out_5161498735714983758[99] = 0; - out_5161498735714983758[100] = 0; - out_5161498735714983758[101] = 0; - out_5161498735714983758[102] = 0; - out_5161498735714983758[103] = 0; - out_5161498735714983758[104] = dt; - out_5161498735714983758[105] = 0; - out_5161498735714983758[106] = 0; - out_5161498735714983758[107] = 0; - out_5161498735714983758[108] = 0; - out_5161498735714983758[109] = 0; - out_5161498735714983758[110] = 0; - out_5161498735714983758[111] = 0; - out_5161498735714983758[112] = 0; - out_5161498735714983758[113] = 0; - out_5161498735714983758[114] = 1; - out_5161498735714983758[115] = 0; - out_5161498735714983758[116] = 0; - out_5161498735714983758[117] = 0; - out_5161498735714983758[118] = 0; - out_5161498735714983758[119] = 0; - out_5161498735714983758[120] = 0; - out_5161498735714983758[121] = 0; - out_5161498735714983758[122] = 0; - out_5161498735714983758[123] = 0; - out_5161498735714983758[124] = 0; - out_5161498735714983758[125] = 0; - out_5161498735714983758[126] = 0; - out_5161498735714983758[127] = 0; - out_5161498735714983758[128] = 0; - out_5161498735714983758[129] = 0; - out_5161498735714983758[130] = 0; - out_5161498735714983758[131] = 0; - out_5161498735714983758[132] = 0; - out_5161498735714983758[133] = 1; - out_5161498735714983758[134] = 0; - out_5161498735714983758[135] = 0; - out_5161498735714983758[136] = 0; - out_5161498735714983758[137] = 0; - out_5161498735714983758[138] = 0; - out_5161498735714983758[139] = 0; - out_5161498735714983758[140] = 0; - out_5161498735714983758[141] = 0; - out_5161498735714983758[142] = 0; - out_5161498735714983758[143] = 0; - out_5161498735714983758[144] = 0; - out_5161498735714983758[145] = 0; - out_5161498735714983758[146] = 0; - out_5161498735714983758[147] = 0; - out_5161498735714983758[148] = 0; - out_5161498735714983758[149] = 0; - out_5161498735714983758[150] = 0; - out_5161498735714983758[151] = 0; - out_5161498735714983758[152] = 1; - out_5161498735714983758[153] = 0; - out_5161498735714983758[154] = 0; - out_5161498735714983758[155] = 0; - out_5161498735714983758[156] = 0; - out_5161498735714983758[157] = 0; - out_5161498735714983758[158] = 0; - out_5161498735714983758[159] = 0; - out_5161498735714983758[160] = 0; - out_5161498735714983758[161] = 0; - out_5161498735714983758[162] = 0; - out_5161498735714983758[163] = 0; - out_5161498735714983758[164] = 0; - out_5161498735714983758[165] = 0; - out_5161498735714983758[166] = 0; - out_5161498735714983758[167] = 0; - out_5161498735714983758[168] = 0; - out_5161498735714983758[169] = 0; - out_5161498735714983758[170] = 0; - out_5161498735714983758[171] = 1; - out_5161498735714983758[172] = 0; - out_5161498735714983758[173] = 0; - out_5161498735714983758[174] = 0; - out_5161498735714983758[175] = 0; - out_5161498735714983758[176] = 0; - out_5161498735714983758[177] = 0; - out_5161498735714983758[178] = 0; - out_5161498735714983758[179] = 0; - out_5161498735714983758[180] = 0; - out_5161498735714983758[181] = 0; - out_5161498735714983758[182] = 0; - out_5161498735714983758[183] = 0; - out_5161498735714983758[184] = 0; - out_5161498735714983758[185] = 0; - out_5161498735714983758[186] = 0; - out_5161498735714983758[187] = 0; - out_5161498735714983758[188] = 0; - out_5161498735714983758[189] = 0; - out_5161498735714983758[190] = 1; - out_5161498735714983758[191] = 0; - out_5161498735714983758[192] = 0; - out_5161498735714983758[193] = 0; - out_5161498735714983758[194] = 0; - out_5161498735714983758[195] = 0; - out_5161498735714983758[196] = 0; - out_5161498735714983758[197] = 0; - out_5161498735714983758[198] = 0; - out_5161498735714983758[199] = 0; - out_5161498735714983758[200] = 0; - out_5161498735714983758[201] = 0; - out_5161498735714983758[202] = 0; - out_5161498735714983758[203] = 0; - out_5161498735714983758[204] = 0; - out_5161498735714983758[205] = 0; - out_5161498735714983758[206] = 0; - out_5161498735714983758[207] = 0; - out_5161498735714983758[208] = 0; - out_5161498735714983758[209] = 1; - out_5161498735714983758[210] = 0; - out_5161498735714983758[211] = 0; - out_5161498735714983758[212] = 0; - out_5161498735714983758[213] = 0; - out_5161498735714983758[214] = 0; - out_5161498735714983758[215] = 0; - out_5161498735714983758[216] = 0; - out_5161498735714983758[217] = 0; - out_5161498735714983758[218] = 0; - out_5161498735714983758[219] = 0; - out_5161498735714983758[220] = 0; - out_5161498735714983758[221] = 0; - out_5161498735714983758[222] = 0; - out_5161498735714983758[223] = 0; - out_5161498735714983758[224] = 0; - out_5161498735714983758[225] = 0; - out_5161498735714983758[226] = 0; - out_5161498735714983758[227] = 0; - out_5161498735714983758[228] = 1; - out_5161498735714983758[229] = 0; - out_5161498735714983758[230] = 0; - out_5161498735714983758[231] = 0; - out_5161498735714983758[232] = 0; - out_5161498735714983758[233] = 0; - out_5161498735714983758[234] = 0; - out_5161498735714983758[235] = 0; - out_5161498735714983758[236] = 0; - out_5161498735714983758[237] = 0; - out_5161498735714983758[238] = 0; - out_5161498735714983758[239] = 0; - out_5161498735714983758[240] = 0; - out_5161498735714983758[241] = 0; - out_5161498735714983758[242] = 0; - out_5161498735714983758[243] = 0; - out_5161498735714983758[244] = 0; - out_5161498735714983758[245] = 0; - out_5161498735714983758[246] = 0; - out_5161498735714983758[247] = 1; - out_5161498735714983758[248] = 0; - out_5161498735714983758[249] = 0; - out_5161498735714983758[250] = 0; - out_5161498735714983758[251] = 0; - out_5161498735714983758[252] = 0; - out_5161498735714983758[253] = 0; - out_5161498735714983758[254] = 0; - out_5161498735714983758[255] = 0; - out_5161498735714983758[256] = 0; - out_5161498735714983758[257] = 0; - out_5161498735714983758[258] = 0; - out_5161498735714983758[259] = 0; - out_5161498735714983758[260] = 0; - out_5161498735714983758[261] = 0; - out_5161498735714983758[262] = 0; - out_5161498735714983758[263] = 0; - out_5161498735714983758[264] = 0; - out_5161498735714983758[265] = 0; - out_5161498735714983758[266] = 1; - out_5161498735714983758[267] = 0; - out_5161498735714983758[268] = 0; - out_5161498735714983758[269] = 0; - out_5161498735714983758[270] = 0; - out_5161498735714983758[271] = 0; - out_5161498735714983758[272] = 0; - out_5161498735714983758[273] = 0; - out_5161498735714983758[274] = 0; - out_5161498735714983758[275] = 0; - out_5161498735714983758[276] = 0; - out_5161498735714983758[277] = 0; - out_5161498735714983758[278] = 0; - out_5161498735714983758[279] = 0; - out_5161498735714983758[280] = 0; - out_5161498735714983758[281] = 0; - out_5161498735714983758[282] = 0; - out_5161498735714983758[283] = 0; - out_5161498735714983758[284] = 0; - out_5161498735714983758[285] = 1; - out_5161498735714983758[286] = 0; - out_5161498735714983758[287] = 0; - out_5161498735714983758[288] = 0; - out_5161498735714983758[289] = 0; - out_5161498735714983758[290] = 0; - out_5161498735714983758[291] = 0; - out_5161498735714983758[292] = 0; - out_5161498735714983758[293] = 0; - out_5161498735714983758[294] = 0; - out_5161498735714983758[295] = 0; - out_5161498735714983758[296] = 0; - out_5161498735714983758[297] = 0; - out_5161498735714983758[298] = 0; - out_5161498735714983758[299] = 0; - out_5161498735714983758[300] = 0; - out_5161498735714983758[301] = 0; - out_5161498735714983758[302] = 0; - out_5161498735714983758[303] = 0; - out_5161498735714983758[304] = 1; - out_5161498735714983758[305] = 0; - out_5161498735714983758[306] = 0; - out_5161498735714983758[307] = 0; - out_5161498735714983758[308] = 0; - out_5161498735714983758[309] = 0; - out_5161498735714983758[310] = 0; - out_5161498735714983758[311] = 0; - out_5161498735714983758[312] = 0; - out_5161498735714983758[313] = 0; - out_5161498735714983758[314] = 0; - out_5161498735714983758[315] = 0; - out_5161498735714983758[316] = 0; - out_5161498735714983758[317] = 0; - out_5161498735714983758[318] = 0; - out_5161498735714983758[319] = 0; - out_5161498735714983758[320] = 0; - out_5161498735714983758[321] = 0; - out_5161498735714983758[322] = 0; - out_5161498735714983758[323] = 1; +void F_fun(double *state, double dt, double *out_6790734299023463428) { + out_6790734299023463428[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_6790734299023463428[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_6790734299023463428[2] = 0; + out_6790734299023463428[3] = 0; + out_6790734299023463428[4] = 0; + out_6790734299023463428[5] = 0; + out_6790734299023463428[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_6790734299023463428[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_6790734299023463428[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_6790734299023463428[9] = 0; + out_6790734299023463428[10] = 0; + out_6790734299023463428[11] = 0; + out_6790734299023463428[12] = 0; + out_6790734299023463428[13] = 0; + out_6790734299023463428[14] = 0; + out_6790734299023463428[15] = 0; + out_6790734299023463428[16] = 0; + out_6790734299023463428[17] = 0; + out_6790734299023463428[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_6790734299023463428[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_6790734299023463428[20] = 0; + out_6790734299023463428[21] = 0; + out_6790734299023463428[22] = 0; + out_6790734299023463428[23] = 0; + out_6790734299023463428[24] = 0; + out_6790734299023463428[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_6790734299023463428[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_6790734299023463428[27] = 0; + out_6790734299023463428[28] = 0; + out_6790734299023463428[29] = 0; + out_6790734299023463428[30] = 0; + out_6790734299023463428[31] = 0; + out_6790734299023463428[32] = 0; + out_6790734299023463428[33] = 0; + out_6790734299023463428[34] = 0; + out_6790734299023463428[35] = 0; + out_6790734299023463428[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_6790734299023463428[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_6790734299023463428[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_6790734299023463428[39] = 0; + out_6790734299023463428[40] = 0; + out_6790734299023463428[41] = 0; + out_6790734299023463428[42] = 0; + out_6790734299023463428[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_6790734299023463428[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_6790734299023463428[45] = 0; + out_6790734299023463428[46] = 0; + out_6790734299023463428[47] = 0; + out_6790734299023463428[48] = 0; + out_6790734299023463428[49] = 0; + out_6790734299023463428[50] = 0; + out_6790734299023463428[51] = 0; + out_6790734299023463428[52] = 0; + out_6790734299023463428[53] = 0; + out_6790734299023463428[54] = 0; + out_6790734299023463428[55] = 0; + out_6790734299023463428[56] = 0; + out_6790734299023463428[57] = 1; + out_6790734299023463428[58] = 0; + out_6790734299023463428[59] = 0; + out_6790734299023463428[60] = 0; + out_6790734299023463428[61] = 0; + out_6790734299023463428[62] = 0; + out_6790734299023463428[63] = 0; + out_6790734299023463428[64] = 0; + out_6790734299023463428[65] = 0; + out_6790734299023463428[66] = dt; + out_6790734299023463428[67] = 0; + out_6790734299023463428[68] = 0; + out_6790734299023463428[69] = 0; + out_6790734299023463428[70] = 0; + out_6790734299023463428[71] = 0; + out_6790734299023463428[72] = 0; + out_6790734299023463428[73] = 0; + out_6790734299023463428[74] = 0; + out_6790734299023463428[75] = 0; + out_6790734299023463428[76] = 1; + out_6790734299023463428[77] = 0; + out_6790734299023463428[78] = 0; + out_6790734299023463428[79] = 0; + out_6790734299023463428[80] = 0; + out_6790734299023463428[81] = 0; + out_6790734299023463428[82] = 0; + out_6790734299023463428[83] = 0; + out_6790734299023463428[84] = 0; + out_6790734299023463428[85] = dt; + out_6790734299023463428[86] = 0; + out_6790734299023463428[87] = 0; + out_6790734299023463428[88] = 0; + out_6790734299023463428[89] = 0; + out_6790734299023463428[90] = 0; + out_6790734299023463428[91] = 0; + out_6790734299023463428[92] = 0; + out_6790734299023463428[93] = 0; + out_6790734299023463428[94] = 0; + out_6790734299023463428[95] = 1; + out_6790734299023463428[96] = 0; + out_6790734299023463428[97] = 0; + out_6790734299023463428[98] = 0; + out_6790734299023463428[99] = 0; + out_6790734299023463428[100] = 0; + out_6790734299023463428[101] = 0; + out_6790734299023463428[102] = 0; + out_6790734299023463428[103] = 0; + out_6790734299023463428[104] = dt; + out_6790734299023463428[105] = 0; + out_6790734299023463428[106] = 0; + out_6790734299023463428[107] = 0; + out_6790734299023463428[108] = 0; + out_6790734299023463428[109] = 0; + out_6790734299023463428[110] = 0; + out_6790734299023463428[111] = 0; + out_6790734299023463428[112] = 0; + out_6790734299023463428[113] = 0; + out_6790734299023463428[114] = 1; + out_6790734299023463428[115] = 0; + out_6790734299023463428[116] = 0; + out_6790734299023463428[117] = 0; + out_6790734299023463428[118] = 0; + out_6790734299023463428[119] = 0; + out_6790734299023463428[120] = 0; + out_6790734299023463428[121] = 0; + out_6790734299023463428[122] = 0; + out_6790734299023463428[123] = 0; + out_6790734299023463428[124] = 0; + out_6790734299023463428[125] = 0; + out_6790734299023463428[126] = 0; + out_6790734299023463428[127] = 0; + out_6790734299023463428[128] = 0; + out_6790734299023463428[129] = 0; + out_6790734299023463428[130] = 0; + out_6790734299023463428[131] = 0; + out_6790734299023463428[132] = 0; + out_6790734299023463428[133] = 1; + out_6790734299023463428[134] = 0; + out_6790734299023463428[135] = 0; + out_6790734299023463428[136] = 0; + out_6790734299023463428[137] = 0; + out_6790734299023463428[138] = 0; + out_6790734299023463428[139] = 0; + out_6790734299023463428[140] = 0; + out_6790734299023463428[141] = 0; + out_6790734299023463428[142] = 0; + out_6790734299023463428[143] = 0; + out_6790734299023463428[144] = 0; + out_6790734299023463428[145] = 0; + out_6790734299023463428[146] = 0; + out_6790734299023463428[147] = 0; + out_6790734299023463428[148] = 0; + out_6790734299023463428[149] = 0; + out_6790734299023463428[150] = 0; + out_6790734299023463428[151] = 0; + out_6790734299023463428[152] = 1; + out_6790734299023463428[153] = 0; + out_6790734299023463428[154] = 0; + out_6790734299023463428[155] = 0; + out_6790734299023463428[156] = 0; + out_6790734299023463428[157] = 0; + out_6790734299023463428[158] = 0; + out_6790734299023463428[159] = 0; + out_6790734299023463428[160] = 0; + out_6790734299023463428[161] = 0; + out_6790734299023463428[162] = 0; + out_6790734299023463428[163] = 0; + out_6790734299023463428[164] = 0; + out_6790734299023463428[165] = 0; + out_6790734299023463428[166] = 0; + out_6790734299023463428[167] = 0; + out_6790734299023463428[168] = 0; + out_6790734299023463428[169] = 0; + out_6790734299023463428[170] = 0; + out_6790734299023463428[171] = 1; + out_6790734299023463428[172] = 0; + out_6790734299023463428[173] = 0; + out_6790734299023463428[174] = 0; + out_6790734299023463428[175] = 0; + out_6790734299023463428[176] = 0; + out_6790734299023463428[177] = 0; + out_6790734299023463428[178] = 0; + out_6790734299023463428[179] = 0; + out_6790734299023463428[180] = 0; + out_6790734299023463428[181] = 0; + out_6790734299023463428[182] = 0; + out_6790734299023463428[183] = 0; + out_6790734299023463428[184] = 0; + out_6790734299023463428[185] = 0; + out_6790734299023463428[186] = 0; + out_6790734299023463428[187] = 0; + out_6790734299023463428[188] = 0; + out_6790734299023463428[189] = 0; + out_6790734299023463428[190] = 1; + out_6790734299023463428[191] = 0; + out_6790734299023463428[192] = 0; + out_6790734299023463428[193] = 0; + out_6790734299023463428[194] = 0; + out_6790734299023463428[195] = 0; + out_6790734299023463428[196] = 0; + out_6790734299023463428[197] = 0; + out_6790734299023463428[198] = 0; + out_6790734299023463428[199] = 0; + out_6790734299023463428[200] = 0; + out_6790734299023463428[201] = 0; + out_6790734299023463428[202] = 0; + out_6790734299023463428[203] = 0; + out_6790734299023463428[204] = 0; + out_6790734299023463428[205] = 0; + out_6790734299023463428[206] = 0; + out_6790734299023463428[207] = 0; + out_6790734299023463428[208] = 0; + out_6790734299023463428[209] = 1; + out_6790734299023463428[210] = 0; + out_6790734299023463428[211] = 0; + out_6790734299023463428[212] = 0; + out_6790734299023463428[213] = 0; + out_6790734299023463428[214] = 0; + out_6790734299023463428[215] = 0; + out_6790734299023463428[216] = 0; + out_6790734299023463428[217] = 0; + out_6790734299023463428[218] = 0; + out_6790734299023463428[219] = 0; + out_6790734299023463428[220] = 0; + out_6790734299023463428[221] = 0; + out_6790734299023463428[222] = 0; + out_6790734299023463428[223] = 0; + out_6790734299023463428[224] = 0; + out_6790734299023463428[225] = 0; + out_6790734299023463428[226] = 0; + out_6790734299023463428[227] = 0; + out_6790734299023463428[228] = 1; + out_6790734299023463428[229] = 0; + out_6790734299023463428[230] = 0; + out_6790734299023463428[231] = 0; + out_6790734299023463428[232] = 0; + out_6790734299023463428[233] = 0; + out_6790734299023463428[234] = 0; + out_6790734299023463428[235] = 0; + out_6790734299023463428[236] = 0; + out_6790734299023463428[237] = 0; + out_6790734299023463428[238] = 0; + out_6790734299023463428[239] = 0; + out_6790734299023463428[240] = 0; + out_6790734299023463428[241] = 0; + out_6790734299023463428[242] = 0; + out_6790734299023463428[243] = 0; + out_6790734299023463428[244] = 0; + out_6790734299023463428[245] = 0; + out_6790734299023463428[246] = 0; + out_6790734299023463428[247] = 1; + out_6790734299023463428[248] = 0; + out_6790734299023463428[249] = 0; + out_6790734299023463428[250] = 0; + out_6790734299023463428[251] = 0; + out_6790734299023463428[252] = 0; + out_6790734299023463428[253] = 0; + out_6790734299023463428[254] = 0; + out_6790734299023463428[255] = 0; + out_6790734299023463428[256] = 0; + out_6790734299023463428[257] = 0; + out_6790734299023463428[258] = 0; + out_6790734299023463428[259] = 0; + out_6790734299023463428[260] = 0; + out_6790734299023463428[261] = 0; + out_6790734299023463428[262] = 0; + out_6790734299023463428[263] = 0; + out_6790734299023463428[264] = 0; + out_6790734299023463428[265] = 0; + out_6790734299023463428[266] = 1; + out_6790734299023463428[267] = 0; + out_6790734299023463428[268] = 0; + out_6790734299023463428[269] = 0; + out_6790734299023463428[270] = 0; + out_6790734299023463428[271] = 0; + out_6790734299023463428[272] = 0; + out_6790734299023463428[273] = 0; + out_6790734299023463428[274] = 0; + out_6790734299023463428[275] = 0; + out_6790734299023463428[276] = 0; + out_6790734299023463428[277] = 0; + out_6790734299023463428[278] = 0; + out_6790734299023463428[279] = 0; + out_6790734299023463428[280] = 0; + out_6790734299023463428[281] = 0; + out_6790734299023463428[282] = 0; + out_6790734299023463428[283] = 0; + out_6790734299023463428[284] = 0; + out_6790734299023463428[285] = 1; + out_6790734299023463428[286] = 0; + out_6790734299023463428[287] = 0; + out_6790734299023463428[288] = 0; + out_6790734299023463428[289] = 0; + out_6790734299023463428[290] = 0; + out_6790734299023463428[291] = 0; + out_6790734299023463428[292] = 0; + out_6790734299023463428[293] = 0; + out_6790734299023463428[294] = 0; + out_6790734299023463428[295] = 0; + out_6790734299023463428[296] = 0; + out_6790734299023463428[297] = 0; + out_6790734299023463428[298] = 0; + out_6790734299023463428[299] = 0; + out_6790734299023463428[300] = 0; + out_6790734299023463428[301] = 0; + out_6790734299023463428[302] = 0; + out_6790734299023463428[303] = 0; + out_6790734299023463428[304] = 1; + out_6790734299023463428[305] = 0; + out_6790734299023463428[306] = 0; + out_6790734299023463428[307] = 0; + out_6790734299023463428[308] = 0; + out_6790734299023463428[309] = 0; + out_6790734299023463428[310] = 0; + out_6790734299023463428[311] = 0; + out_6790734299023463428[312] = 0; + out_6790734299023463428[313] = 0; + out_6790734299023463428[314] = 0; + out_6790734299023463428[315] = 0; + out_6790734299023463428[316] = 0; + out_6790734299023463428[317] = 0; + out_6790734299023463428[318] = 0; + out_6790734299023463428[319] = 0; + out_6790734299023463428[320] = 0; + out_6790734299023463428[321] = 0; + out_6790734299023463428[322] = 0; + out_6790734299023463428[323] = 1; } -void h_4(double *state, double *unused, double *out_6700070712992729001) { - out_6700070712992729001[0] = state[6] + state[9]; - out_6700070712992729001[1] = state[7] + state[10]; - out_6700070712992729001[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_7856717095735989173) { + out_7856717095735989173[0] = state[6] + state[9]; + out_7856717095735989173[1] = state[7] + state[10]; + out_7856717095735989173[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_554520126744309549) { - out_554520126744309549[0] = 0; - out_554520126744309549[1] = 0; - out_554520126744309549[2] = 0; - out_554520126744309549[3] = 0; - out_554520126744309549[4] = 0; - out_554520126744309549[5] = 0; - out_554520126744309549[6] = 1; - out_554520126744309549[7] = 0; - out_554520126744309549[8] = 0; - out_554520126744309549[9] = 1; - out_554520126744309549[10] = 0; - out_554520126744309549[11] = 0; - out_554520126744309549[12] = 0; - out_554520126744309549[13] = 0; - out_554520126744309549[14] = 0; - out_554520126744309549[15] = 0; - out_554520126744309549[16] = 0; - out_554520126744309549[17] = 0; - out_554520126744309549[18] = 0; - out_554520126744309549[19] = 0; - out_554520126744309549[20] = 0; - out_554520126744309549[21] = 0; - out_554520126744309549[22] = 0; - out_554520126744309549[23] = 0; - out_554520126744309549[24] = 0; - out_554520126744309549[25] = 1; - out_554520126744309549[26] = 0; - out_554520126744309549[27] = 0; - out_554520126744309549[28] = 1; - out_554520126744309549[29] = 0; - out_554520126744309549[30] = 0; - out_554520126744309549[31] = 0; - out_554520126744309549[32] = 0; - out_554520126744309549[33] = 0; - out_554520126744309549[34] = 0; - out_554520126744309549[35] = 0; - out_554520126744309549[36] = 0; - out_554520126744309549[37] = 0; - out_554520126744309549[38] = 0; - out_554520126744309549[39] = 0; - out_554520126744309549[40] = 0; - out_554520126744309549[41] = 0; - out_554520126744309549[42] = 0; - out_554520126744309549[43] = 0; - out_554520126744309549[44] = 1; - out_554520126744309549[45] = 0; - out_554520126744309549[46] = 0; - out_554520126744309549[47] = 1; - out_554520126744309549[48] = 0; - out_554520126744309549[49] = 0; - out_554520126744309549[50] = 0; - out_554520126744309549[51] = 0; - out_554520126744309549[52] = 0; - out_554520126744309549[53] = 0; +void H_4(double *state, double *unused, double *out_6651814309831508420) { + out_6651814309831508420[0] = 0; + out_6651814309831508420[1] = 0; + out_6651814309831508420[2] = 0; + out_6651814309831508420[3] = 0; + out_6651814309831508420[4] = 0; + out_6651814309831508420[5] = 0; + out_6651814309831508420[6] = 1; + out_6651814309831508420[7] = 0; + out_6651814309831508420[8] = 0; + out_6651814309831508420[9] = 1; + out_6651814309831508420[10] = 0; + out_6651814309831508420[11] = 0; + out_6651814309831508420[12] = 0; + out_6651814309831508420[13] = 0; + out_6651814309831508420[14] = 0; + out_6651814309831508420[15] = 0; + out_6651814309831508420[16] = 0; + out_6651814309831508420[17] = 0; + out_6651814309831508420[18] = 0; + out_6651814309831508420[19] = 0; + out_6651814309831508420[20] = 0; + out_6651814309831508420[21] = 0; + out_6651814309831508420[22] = 0; + out_6651814309831508420[23] = 0; + out_6651814309831508420[24] = 0; + out_6651814309831508420[25] = 1; + out_6651814309831508420[26] = 0; + out_6651814309831508420[27] = 0; + out_6651814309831508420[28] = 1; + out_6651814309831508420[29] = 0; + out_6651814309831508420[30] = 0; + out_6651814309831508420[31] = 0; + out_6651814309831508420[32] = 0; + out_6651814309831508420[33] = 0; + out_6651814309831508420[34] = 0; + out_6651814309831508420[35] = 0; + out_6651814309831508420[36] = 0; + out_6651814309831508420[37] = 0; + out_6651814309831508420[38] = 0; + out_6651814309831508420[39] = 0; + out_6651814309831508420[40] = 0; + out_6651814309831508420[41] = 0; + out_6651814309831508420[42] = 0; + out_6651814309831508420[43] = 0; + out_6651814309831508420[44] = 1; + out_6651814309831508420[45] = 0; + out_6651814309831508420[46] = 0; + out_6651814309831508420[47] = 1; + out_6651814309831508420[48] = 0; + out_6651814309831508420[49] = 0; + out_6651814309831508420[50] = 0; + out_6651814309831508420[51] = 0; + out_6651814309831508420[52] = 0; + out_6651814309831508420[53] = 0; } -void h_10(double *state, double *unused, double *out_326755883218172788) { - out_326755883218172788[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_326755883218172788[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_326755883218172788[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; +void h_10(double *state, double *unused, double *out_7802819887885526758) { + out_7802819887885526758[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_7802819887885526758[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_7802819887885526758[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; } -void H_10(double *state, double *unused, double *out_3618077715207225770) { - out_3618077715207225770[0] = 0; - out_3618077715207225770[1] = 9.8100000000000005*cos(state[1]); - out_3618077715207225770[2] = 0; - out_3618077715207225770[3] = 0; - out_3618077715207225770[4] = -state[8]; - out_3618077715207225770[5] = state[7]; - out_3618077715207225770[6] = 0; - out_3618077715207225770[7] = state[5]; - out_3618077715207225770[8] = -state[4]; - out_3618077715207225770[9] = 0; - out_3618077715207225770[10] = 0; - out_3618077715207225770[11] = 0; - out_3618077715207225770[12] = 1; - out_3618077715207225770[13] = 0; - out_3618077715207225770[14] = 0; - out_3618077715207225770[15] = 1; - out_3618077715207225770[16] = 0; - out_3618077715207225770[17] = 0; - out_3618077715207225770[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_3618077715207225770[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_3618077715207225770[20] = 0; - out_3618077715207225770[21] = state[8]; - out_3618077715207225770[22] = 0; - out_3618077715207225770[23] = -state[6]; - out_3618077715207225770[24] = -state[5]; - out_3618077715207225770[25] = 0; - out_3618077715207225770[26] = state[3]; - out_3618077715207225770[27] = 0; - out_3618077715207225770[28] = 0; - out_3618077715207225770[29] = 0; - out_3618077715207225770[30] = 0; - out_3618077715207225770[31] = 1; - out_3618077715207225770[32] = 0; - out_3618077715207225770[33] = 0; - out_3618077715207225770[34] = 1; - out_3618077715207225770[35] = 0; - out_3618077715207225770[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_3618077715207225770[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_3618077715207225770[38] = 0; - out_3618077715207225770[39] = -state[7]; - out_3618077715207225770[40] = state[6]; - out_3618077715207225770[41] = 0; - out_3618077715207225770[42] = state[4]; - out_3618077715207225770[43] = -state[3]; - out_3618077715207225770[44] = 0; - out_3618077715207225770[45] = 0; - out_3618077715207225770[46] = 0; - out_3618077715207225770[47] = 0; - out_3618077715207225770[48] = 0; - out_3618077715207225770[49] = 0; - out_3618077715207225770[50] = 1; - out_3618077715207225770[51] = 0; - out_3618077715207225770[52] = 0; - out_3618077715207225770[53] = 1; +void H_10(double *state, double *unused, double *out_2391217134998665876) { + out_2391217134998665876[0] = 0; + out_2391217134998665876[1] = 9.8100000000000005*cos(state[1]); + out_2391217134998665876[2] = 0; + out_2391217134998665876[3] = 0; + out_2391217134998665876[4] = -state[8]; + out_2391217134998665876[5] = state[7]; + out_2391217134998665876[6] = 0; + out_2391217134998665876[7] = state[5]; + out_2391217134998665876[8] = -state[4]; + out_2391217134998665876[9] = 0; + out_2391217134998665876[10] = 0; + out_2391217134998665876[11] = 0; + out_2391217134998665876[12] = 1; + out_2391217134998665876[13] = 0; + out_2391217134998665876[14] = 0; + out_2391217134998665876[15] = 1; + out_2391217134998665876[16] = 0; + out_2391217134998665876[17] = 0; + out_2391217134998665876[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_2391217134998665876[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_2391217134998665876[20] = 0; + out_2391217134998665876[21] = state[8]; + out_2391217134998665876[22] = 0; + out_2391217134998665876[23] = -state[6]; + out_2391217134998665876[24] = -state[5]; + out_2391217134998665876[25] = 0; + out_2391217134998665876[26] = state[3]; + out_2391217134998665876[27] = 0; + out_2391217134998665876[28] = 0; + out_2391217134998665876[29] = 0; + out_2391217134998665876[30] = 0; + out_2391217134998665876[31] = 1; + out_2391217134998665876[32] = 0; + out_2391217134998665876[33] = 0; + out_2391217134998665876[34] = 1; + out_2391217134998665876[35] = 0; + out_2391217134998665876[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_2391217134998665876[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_2391217134998665876[38] = 0; + out_2391217134998665876[39] = -state[7]; + out_2391217134998665876[40] = state[6]; + out_2391217134998665876[41] = 0; + out_2391217134998665876[42] = state[4]; + out_2391217134998665876[43] = -state[3]; + out_2391217134998665876[44] = 0; + out_2391217134998665876[45] = 0; + out_2391217134998665876[46] = 0; + out_2391217134998665876[47] = 0; + out_2391217134998665876[48] = 0; + out_2391217134998665876[49] = 0; + out_2391217134998665876[50] = 1; + out_2391217134998665876[51] = 0; + out_2391217134998665876[52] = 0; + out_2391217134998665876[53] = 1; } -void h_13(double *state, double *unused, double *out_8852328989829848020) { - out_8852328989829848020[0] = state[3]; - out_8852328989829848020[1] = state[4]; - out_8852328989829848020[2] = state[5]; +void h_13(double *state, double *unused, double *out_7948582274063627909) { + out_7948582274063627909[0] = state[3]; + out_7948582274063627909[1] = state[4]; + out_7948582274063627909[2] = state[5]; } -void H_13(double *state, double *unused, double *out_3279235336558214475) { - out_3279235336558214475[0] = 0; - out_3279235336558214475[1] = 0; - out_3279235336558214475[2] = 0; - out_3279235336558214475[3] = 1; - out_3279235336558214475[4] = 0; - out_3279235336558214475[5] = 0; - out_3279235336558214475[6] = 0; - out_3279235336558214475[7] = 0; - out_3279235336558214475[8] = 0; - out_3279235336558214475[9] = 0; - out_3279235336558214475[10] = 0; - out_3279235336558214475[11] = 0; - out_3279235336558214475[12] = 0; - out_3279235336558214475[13] = 0; - out_3279235336558214475[14] = 0; - out_3279235336558214475[15] = 0; - out_3279235336558214475[16] = 0; - out_3279235336558214475[17] = 0; - out_3279235336558214475[18] = 0; - out_3279235336558214475[19] = 0; - out_3279235336558214475[20] = 0; - out_3279235336558214475[21] = 0; - out_3279235336558214475[22] = 1; - out_3279235336558214475[23] = 0; - out_3279235336558214475[24] = 0; - out_3279235336558214475[25] = 0; - out_3279235336558214475[26] = 0; - out_3279235336558214475[27] = 0; - out_3279235336558214475[28] = 0; - out_3279235336558214475[29] = 0; - out_3279235336558214475[30] = 0; - out_3279235336558214475[31] = 0; - out_3279235336558214475[32] = 0; - out_3279235336558214475[33] = 0; - out_3279235336558214475[34] = 0; - out_3279235336558214475[35] = 0; - out_3279235336558214475[36] = 0; - out_3279235336558214475[37] = 0; - out_3279235336558214475[38] = 0; - out_3279235336558214475[39] = 0; - out_3279235336558214475[40] = 0; - out_3279235336558214475[41] = 1; - out_3279235336558214475[42] = 0; - out_3279235336558214475[43] = 0; - out_3279235336558214475[44] = 0; - out_3279235336558214475[45] = 0; - out_3279235336558214475[46] = 0; - out_3279235336558214475[47] = 0; - out_3279235336558214475[48] = 0; - out_3279235336558214475[49] = 0; - out_3279235336558214475[50] = 0; - out_3279235336558214475[51] = 0; - out_3279235336558214475[52] = 0; - out_3279235336558214475[53] = 0; +void H_13(double *state, double *unused, double *out_3439540484499175619) { + out_3439540484499175619[0] = 0; + out_3439540484499175619[1] = 0; + out_3439540484499175619[2] = 0; + out_3439540484499175619[3] = 1; + out_3439540484499175619[4] = 0; + out_3439540484499175619[5] = 0; + out_3439540484499175619[6] = 0; + out_3439540484499175619[7] = 0; + out_3439540484499175619[8] = 0; + out_3439540484499175619[9] = 0; + out_3439540484499175619[10] = 0; + out_3439540484499175619[11] = 0; + out_3439540484499175619[12] = 0; + out_3439540484499175619[13] = 0; + out_3439540484499175619[14] = 0; + out_3439540484499175619[15] = 0; + out_3439540484499175619[16] = 0; + out_3439540484499175619[17] = 0; + out_3439540484499175619[18] = 0; + out_3439540484499175619[19] = 0; + out_3439540484499175619[20] = 0; + out_3439540484499175619[21] = 0; + out_3439540484499175619[22] = 1; + out_3439540484499175619[23] = 0; + out_3439540484499175619[24] = 0; + out_3439540484499175619[25] = 0; + out_3439540484499175619[26] = 0; + out_3439540484499175619[27] = 0; + out_3439540484499175619[28] = 0; + out_3439540484499175619[29] = 0; + out_3439540484499175619[30] = 0; + out_3439540484499175619[31] = 0; + out_3439540484499175619[32] = 0; + out_3439540484499175619[33] = 0; + out_3439540484499175619[34] = 0; + out_3439540484499175619[35] = 0; + out_3439540484499175619[36] = 0; + out_3439540484499175619[37] = 0; + out_3439540484499175619[38] = 0; + out_3439540484499175619[39] = 0; + out_3439540484499175619[40] = 0; + out_3439540484499175619[41] = 1; + out_3439540484499175619[42] = 0; + out_3439540484499175619[43] = 0; + out_3439540484499175619[44] = 0; + out_3439540484499175619[45] = 0; + out_3439540484499175619[46] = 0; + out_3439540484499175619[47] = 0; + out_3439540484499175619[48] = 0; + out_3439540484499175619[49] = 0; + out_3439540484499175619[50] = 0; + out_3439540484499175619[51] = 0; + out_3439540484499175619[52] = 0; + out_3439540484499175619[53] = 0; } -void h_14(double *state, double *unused, double *out_2099262646432106248) { - out_2099262646432106248[0] = state[6]; - out_2099262646432106248[1] = state[7]; - out_2099262646432106248[2] = state[8]; +void h_14(double *state, double *unused, double *out_223099352326779878) { + out_223099352326779878[0] = state[6]; + out_223099352326779878[1] = state[7]; + out_223099352326779878[2] = state[8]; } -void H_14(double *state, double *unused, double *out_2528268305551062747) { - out_2528268305551062747[0] = 0; - out_2528268305551062747[1] = 0; - out_2528268305551062747[2] = 0; - out_2528268305551062747[3] = 0; - out_2528268305551062747[4] = 0; - out_2528268305551062747[5] = 0; - out_2528268305551062747[6] = 1; - out_2528268305551062747[7] = 0; - out_2528268305551062747[8] = 0; - out_2528268305551062747[9] = 0; - out_2528268305551062747[10] = 0; - out_2528268305551062747[11] = 0; - out_2528268305551062747[12] = 0; - out_2528268305551062747[13] = 0; - out_2528268305551062747[14] = 0; - out_2528268305551062747[15] = 0; - out_2528268305551062747[16] = 0; - out_2528268305551062747[17] = 0; - out_2528268305551062747[18] = 0; - out_2528268305551062747[19] = 0; - out_2528268305551062747[20] = 0; - out_2528268305551062747[21] = 0; - out_2528268305551062747[22] = 0; - out_2528268305551062747[23] = 0; - out_2528268305551062747[24] = 0; - out_2528268305551062747[25] = 1; - out_2528268305551062747[26] = 0; - out_2528268305551062747[27] = 0; - out_2528268305551062747[28] = 0; - out_2528268305551062747[29] = 0; - out_2528268305551062747[30] = 0; - out_2528268305551062747[31] = 0; - out_2528268305551062747[32] = 0; - out_2528268305551062747[33] = 0; - out_2528268305551062747[34] = 0; - out_2528268305551062747[35] = 0; - out_2528268305551062747[36] = 0; - out_2528268305551062747[37] = 0; - out_2528268305551062747[38] = 0; - out_2528268305551062747[39] = 0; - out_2528268305551062747[40] = 0; - out_2528268305551062747[41] = 0; - out_2528268305551062747[42] = 0; - out_2528268305551062747[43] = 0; - out_2528268305551062747[44] = 1; - out_2528268305551062747[45] = 0; - out_2528268305551062747[46] = 0; - out_2528268305551062747[47] = 0; - out_2528268305551062747[48] = 0; - out_2528268305551062747[49] = 0; - out_2528268305551062747[50] = 0; - out_2528268305551062747[51] = 0; - out_2528268305551062747[52] = 0; - out_2528268305551062747[53] = 0; +void H_14(double *state, double *unused, double *out_8712141331582670900) { + out_8712141331582670900[0] = 0; + out_8712141331582670900[1] = 0; + out_8712141331582670900[2] = 0; + out_8712141331582670900[3] = 0; + out_8712141331582670900[4] = 0; + out_8712141331582670900[5] = 0; + out_8712141331582670900[6] = 1; + out_8712141331582670900[7] = 0; + out_8712141331582670900[8] = 0; + out_8712141331582670900[9] = 0; + out_8712141331582670900[10] = 0; + out_8712141331582670900[11] = 0; + out_8712141331582670900[12] = 0; + out_8712141331582670900[13] = 0; + out_8712141331582670900[14] = 0; + out_8712141331582670900[15] = 0; + out_8712141331582670900[16] = 0; + out_8712141331582670900[17] = 0; + out_8712141331582670900[18] = 0; + out_8712141331582670900[19] = 0; + out_8712141331582670900[20] = 0; + out_8712141331582670900[21] = 0; + out_8712141331582670900[22] = 0; + out_8712141331582670900[23] = 0; + out_8712141331582670900[24] = 0; + out_8712141331582670900[25] = 1; + out_8712141331582670900[26] = 0; + out_8712141331582670900[27] = 0; + out_8712141331582670900[28] = 0; + out_8712141331582670900[29] = 0; + out_8712141331582670900[30] = 0; + out_8712141331582670900[31] = 0; + out_8712141331582670900[32] = 0; + out_8712141331582670900[33] = 0; + out_8712141331582670900[34] = 0; + out_8712141331582670900[35] = 0; + out_8712141331582670900[36] = 0; + out_8712141331582670900[37] = 0; + out_8712141331582670900[38] = 0; + out_8712141331582670900[39] = 0; + out_8712141331582670900[40] = 0; + out_8712141331582670900[41] = 0; + out_8712141331582670900[42] = 0; + out_8712141331582670900[43] = 0; + out_8712141331582670900[44] = 1; + out_8712141331582670900[45] = 0; + out_8712141331582670900[46] = 0; + out_8712141331582670900[47] = 0; + out_8712141331582670900[48] = 0; + out_8712141331582670900[49] = 0; + out_8712141331582670900[50] = 0; + out_8712141331582670900[51] = 0; + out_8712141331582670900[52] = 0; + out_8712141331582670900[53] = 0; } #include #include @@ -1113,44 +1113,44 @@ void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, doub void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { update<3, 3, 0>(in_x, in_P, h_14, H_14, NULL, in_z, in_R, in_ea, MAHA_THRESH_14); } -void pose_err_fun(double *nom_x, double *delta_x, double *out_9137514370372247790) { - err_fun(nom_x, delta_x, out_9137514370372247790); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5763415234273933913) { + err_fun(nom_x, delta_x, out_5763415234273933913); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3476070474607186610) { - inv_err_fun(nom_x, true_x, out_3476070474607186610); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1417325942549329712) { + inv_err_fun(nom_x, true_x, out_1417325942549329712); } -void pose_H_mod_fun(double *state, double *out_2374218852650606410) { - H_mod_fun(state, out_2374218852650606410); +void pose_H_mod_fun(double *state, double *out_7849761791714406524) { + H_mod_fun(state, out_7849761791714406524); } -void pose_f_fun(double *state, double dt, double *out_4392889107205501252) { - f_fun(state, dt, out_4392889107205501252); +void pose_f_fun(double *state, double dt, double *out_4127372900134371769) { + f_fun(state, dt, out_4127372900134371769); } -void pose_F_fun(double *state, double dt, double *out_5161498735714983758) { - F_fun(state, dt, out_5161498735714983758); +void pose_F_fun(double *state, double dt, double *out_6790734299023463428) { + F_fun(state, dt, out_6790734299023463428); } -void pose_h_4(double *state, double *unused, double *out_6700070712992729001) { - h_4(state, unused, out_6700070712992729001); +void pose_h_4(double *state, double *unused, double *out_7856717095735989173) { + h_4(state, unused, out_7856717095735989173); } -void pose_H_4(double *state, double *unused, double *out_554520126744309549) { - H_4(state, unused, out_554520126744309549); +void pose_H_4(double *state, double *unused, double *out_6651814309831508420) { + H_4(state, unused, out_6651814309831508420); } -void pose_h_10(double *state, double *unused, double *out_326755883218172788) { - h_10(state, unused, out_326755883218172788); +void pose_h_10(double *state, double *unused, double *out_7802819887885526758) { + h_10(state, unused, out_7802819887885526758); } -void pose_H_10(double *state, double *unused, double *out_3618077715207225770) { - H_10(state, unused, out_3618077715207225770); +void pose_H_10(double *state, double *unused, double *out_2391217134998665876) { + H_10(state, unused, out_2391217134998665876); } -void pose_h_13(double *state, double *unused, double *out_8852328989829848020) { - h_13(state, unused, out_8852328989829848020); +void pose_h_13(double *state, double *unused, double *out_7948582274063627909) { + h_13(state, unused, out_7948582274063627909); } -void pose_H_13(double *state, double *unused, double *out_3279235336558214475) { - H_13(state, unused, out_3279235336558214475); +void pose_H_13(double *state, double *unused, double *out_3439540484499175619) { + H_13(state, unused, out_3439540484499175619); } -void pose_h_14(double *state, double *unused, double *out_2099262646432106248) { - h_14(state, unused, out_2099262646432106248); +void pose_h_14(double *state, double *unused, double *out_223099352326779878) { + h_14(state, unused, out_223099352326779878); } -void pose_H_14(double *state, double *unused, double *out_2528268305551062747) { - H_14(state, unused, out_2528268305551062747); +void pose_H_14(double *state, double *unused, double *out_8712141331582670900) { + H_14(state, unused, out_8712141331582670900); } void pose_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/pose.h b/selfdrive/locationd/models/generated/pose.h index 9e3c551b6..2edc25bb1 100644 --- a/selfdrive/locationd/models/generated/pose.h +++ b/selfdrive/locationd/models/generated/pose.h @@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void pose_err_fun(double *nom_x, double *delta_x, double *out_9137514370372247790); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3476070474607186610); -void pose_H_mod_fun(double *state, double *out_2374218852650606410); -void pose_f_fun(double *state, double dt, double *out_4392889107205501252); -void pose_F_fun(double *state, double dt, double *out_5161498735714983758); -void pose_h_4(double *state, double *unused, double *out_6700070712992729001); -void pose_H_4(double *state, double *unused, double *out_554520126744309549); -void pose_h_10(double *state, double *unused, double *out_326755883218172788); -void pose_H_10(double *state, double *unused, double *out_3618077715207225770); -void pose_h_13(double *state, double *unused, double *out_8852328989829848020); -void pose_H_13(double *state, double *unused, double *out_3279235336558214475); -void pose_h_14(double *state, double *unused, double *out_2099262646432106248); -void pose_H_14(double *state, double *unused, double *out_2528268305551062747); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5763415234273933913); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1417325942549329712); +void pose_H_mod_fun(double *state, double *out_7849761791714406524); +void pose_f_fun(double *state, double dt, double *out_4127372900134371769); +void pose_F_fun(double *state, double dt, double *out_6790734299023463428); +void pose_h_4(double *state, double *unused, double *out_7856717095735989173); +void pose_H_4(double *state, double *unused, double *out_6651814309831508420); +void pose_h_10(double *state, double *unused, double *out_7802819887885526758); +void pose_H_10(double *state, double *unused, double *out_2391217134998665876); +void pose_h_13(double *state, double *unused, double *out_7948582274063627909); +void pose_H_13(double *state, double *unused, double *out_3439540484499175619); +void pose_h_14(double *state, double *unused, double *out_223099352326779878); +void pose_H_14(double *state, double *unused, double *out_8712141331582670900); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/modeld/models/commonmodel_pyx.so b/selfdrive/modeld/models/commonmodel_pyx.so index cfc53bba9c253556793d9a2a7871f7c8fb8700cb..edda0400cf556c2affa34849244b0d3422192a3d 100755 GIT binary patch delta 69 zcmaE`PU^ursSP(6McTTvgDx81itahTav`6qa`}G84A@eWnEq5VLNdX~A|p4ggk{9QyzO diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index 5ca7c342b64d6de4028fc6947127d0c8612231eb..39cc6b9222f7c8e400a2c30b3f7dd9741c38792d 100755 GIT binary patch delta 22369 zcmai+3tUxI7Vyu$7vvm31%;6E0g4HV0*U#=E{gdsG%GDDOiDB>C@VD+P%CXTxj`;1 zA7EN)=AdXt%M=(d+oK?ew=;I z0ctPxt-aK@pwc=$G|GYCqYG(rFyz3)wgh3>OmD&7(FaP zRTmB%mY_xy&K&ld`lv8;c!b(e7&kmY4KJHAe1=j#6jr1~sNljAY4@mgg#$;trqT;* z`2TF#vK#v=tSUz4Ds_8V>S$5wfx;7G5>$SnH8w%*D;zlXpc-6uX)KE3LhtwlwW6?M z{6Y13S^iCkJcW_z2`a8^boxrS$}Br^3$mkyIk)PXCAS`Q{W7lX-rH6wbz9-3+Y?k; 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